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最新推荐文章于 2024-09-27 17:31:02 发布

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最新推荐文章于 2024-09-27 17:31:02 发布

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文章标签： python

本文链接：https://blog.csdn.net/qq_45576733/article/details/139797216

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<?xml version="1.0" encoding="utf-8"?>
<robot name="panda" xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:property name="lidar_type" value="$(env LIDAR_TYPE)"/>
<xacro:property name="camera_type" value="$(env CAMERA_TYPE)"/>

<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
    <origin
      xyz="0 0 0.078"
      rpy="0 0 0" />
    <parent
      link="base_footprint" />
    <child
      link="base_link" />
    <axis
      xyz="0 0 0" />
</joint>

<xacro:macro name="wheel" params="prefix *joint_origin *joint_axis">
    <link name="${prefix}_wheel_link">
      <inertial>
        <origin
          xyz="0 2.7728E-07 0.00017522"
          rpy="0 0 0" />
        <mass
          value="0.87209" />
        <inertia
          ixx="0.001446"
          ixy="0"
          ixz="0"
          iyy="0.001446"
          iyz="1.7804E-06"
          izz="0.0025711" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://robot_description/meshes/${prefix}_wheel_link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="1 1 1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://robot_description/meshes/${prefix}_wheel_link.STL" />
        </geometry>
      </collision>
    </link>
    <joint
      name="${prefix}_wheel_joint"
      type="continuous">
      <xacro:insert_block name="joint_origin"/>
      <xacro:insert_block name="joint_axis"/>
      <parent
        link="base_link" />
      <child
        link="${prefix}_wheel_link" />
    </joint>
</xacro:macro>

<xacro:wheel prefix="left_front">
    <origin
      xyz="0.128 0.15065 -4.5101E-05"
      rpy="-1.5708 0 0" />
    <axis xyz="0 0.0015825 1" />
</xacro:wheel>
<xacro:wheel prefix="left_rear">
    <origin
      xyz="-0.128 0.15065 -4.5101E-05"
      rpy="-1.5708 0 0" />
    <axis xyz="0 0.0015825 1" />
</xacro:wheel>
<xacro:wheel prefix="right_front">
    <origin
      xyz="0.128 -0.15065 -4.5101E-05"
      rpy="-1.5708 0 3.1416" />
    <axis xyz="0 -0.0015825 -1" />
</xacro:wheel>
<xacro:wheel prefix="right_rear">
    <origin
      xyz="-0.128 -0.15065 -4.5101E-05"
      rpy="-1.5708 0 3.1416" />
    <axis xyz="0 -0.0015825 -1" />
</xacro:wheel>

<link name="imu"/>
<joint name="imu_joint" type="fixed">
    <origin
      xyz="-0.0015 0.0265 0.031895"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="imu" />
    <axis
      xyz="0 0 0" />
</joint>

<xacro:macro name="sonar" params="suffix *joint_origin">
    <link name="sonar${suffix}_link"/>
    <joint name="sonar${suffix}_joint" type="fixed">
      <xacro:insert_block name="joint_origin"/>
      <parent
        link="base_link" />
      <child
        link="sonar${suffix}_link" />
      <axis
        xyz="0 0 0" />
    </joint>
</xacro:macro>

<xacro:sonar suffix="1">
    <origin
    xyz="0.203 0 0.042895"
    rpy="0 0 0" />
</xacro:sonar>
<xacro:sonar suffix="2">
    <origin
      xyz="0 -0.113 0.074895"
      rpy="0 0 -1.5708" />
</xacro:sonar>
<xacro:sonar suffix="3">
    <origin
      xyz="-0.203 0 0.042895"
      rpy="0 0 3.1416" />
</xacro:sonar>
<xacro:sonar suffix="4">
    <origin
      xyz="0 0.113 0.074895"
      rpy="0 0 1.5708" />
</xacro:sonar>

<xacro:macro name="lidar" params="name *joint_origin *joint_axis">
    <link name="base_laser_link">
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
          filename="package://robot_description/meshes/${name}_link.STL" />
        </geometry>
        <material
          name="">
          <color
          rgba="1 1 1 1" />
        </material>
      </visual>
    </link>
    <joint name="base_laser_joint" type="fixed">
      <xacro:insert_block name="joint_origin"/>
      <parent
        link="base_link" />
      <child
        link="base_laser_link" />
      <xacro:insert_block name="joint_axis"/>
    </joint>
</xacro:macro>

<xacro:if value="${lidar_type == 'rplidar'}">
    <xacro:lidar name="rplidar">
      <origin
        xyz="0.012833 0 0.1509"
        rpy="0 0 -3.1416" />
      <axis
        xyz="0 0 0" />
    </xacro:lidar>
</xacro:if>

<xacro:if value="${lidar_type == 'rplidar_s2'}">
    <xacro:lidar name="rplidar_s2">
      <origin
        xyz="0.002 0 0.5081"
        rpy="0 0 -3.1416" />
      <axis
        xyz="0 0 0" />
    </xacro:lidar>
</xacro:if>

<xacro:if value="${lidar_type in ['nvilidar', 'vp300']}">
    <xacro:lidar name="nvilidar">
    <origin
      xyz="0.0155 0 0.5139"
      rpy="0 0 0" />
    <axis
      xyz="0 0 0" />
    </xacro:lidar>
</xacro:if>

<xacro:if value="${lidar_type == 'rslidar'}">
    <xacro:lidar name="rslidar">
      <origin
        xyz="0.04 0 0.5194"
        rpy="0 0 0" />
      <axis
        xyz="0 0 0" />
    </xacro:lidar>
</xacro:if>

<xacro:if value="${camera_type == 'astras'}">
    <link name="camera_link">
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://robot_description/meshes/camera_link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="1 1 1 1" />
        </material>
      </visual>
    </link>
    <joint name="camera_joint" type="fixed">
      <origin
        xyz="0.1095 0 0.483945253357142"
        rpy="0 0 0" />
      <parent
        link="base_link" />
      <child
        link="camera_link" />
      <axis
        xyz="0 0 0" />
    </joint>
</xacro:if>

<xacro:if value="${camera_type == 'csi72'}">
    <link name="base_camera_link">
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://robot_description/meshes/base_camera_link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="1 1 1 1" />
        </material>
      </visual>
    </link>
    <joint name="base_camera_joint" type="fixed">
      <origin
        xyz="0.11343 0 0.32923"
        rpy="0 0 0" />
      <parent
        link="base_link" />
      <child
        link="base_camera_link" />
      <axis
        xyz="0 0 0" />
    </joint>
</xacro:if>