第五章 URDF机器人建模 课后作业

代码包

所有代码已上传至github网站：
github链接: https://github.com/YuemingBi/ros_practice/tree/master

课后作业

ch5功能包

robot_body.urdf

<?xml version="1.0"?>

<robot name="robot">
  <link name="base_footprint">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.001 0.001 0.001" />
      </geometry>
    </visual>
  </link>

  <!-- base -->
  <joint name="base_footprint_joint" type="fixed">
    <origin xyz="0 0 0.033" rpy="0 0 0" />
    <parent link="base_footprint" />
    <child link="base_link" />
  </joint>

  <link name="base_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.005" radius="0.13" />
      </geometry>
      <material name="yellow">
        <color rgba="1 0.4 0 1" />
      </material>
    </visual>
  </link>

  <!-- left_motor -->
  <joint name="base_left_motor_joint" type="fixed">
    <origin xyz="-0.055 0.075 0" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="left_motor_link" />
  </joint>

  <link name="left_motor_link">
    <visual>
      <origin xyz="0 0 0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.08" radius="0.02" />
      </geometry>
      <material name="gray">
        <color rgba="0.75 0.75 0.75 1" />
      </material>
    </visual>
  </link>

  <!-- left_wheel -->
  <joint name="left_wheel_joint" type="continuous">
    <origin xyz="0 0.0485 0" rpy="0 0 0" />
    <parent link="left_motor_link" />
    <child link="left_wheel_link" />
    <axis xyz="0 1 0" />
  </joint>

  <link name="left_wheel_link">
    <visual>
      <origin xyz="0 0 0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.017" radius="0.033" />
      </geometry>
      <material name="white">
        <color rgba="1 1 1 0.9" />
      </material>
    </visual>
  </link>

  <!-- right_motor -->
  <joint name="base_right_motor_joint" type="fixed">
    <origin xyz="-0.055 -0.075 0" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="right_motor_link" />
  </joint>

  <link name="right_motor_link">
    <visual>
      <origin xyz="0 0 0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.08" radius="0.02" />
      </geometry>
      <material name="gray">
        <color rgba="0.75 0.75 0.75 1" />
      </material>
    </visual>
  </link>

  <!-- right_wheel -->
  <joint name="right_wheel_joint" type="continuous">
    <origin xyz="0 -0.0485 0" rpy="0 0 0" />
    <parent link="right_motor_link" />
    <child link="right_wheel_link" />
    <axis xyz="0 1 0" />
  </joint>

  <link name="right_wheel_link">
    <visual>
      <origin xyz="0 0 0" rpy="1.5708 0 0" />
      <geometry>
        <cylinder length="0.017" radius="0.033" />
      </geometry>
      <material name="white">
        <color rgba="1 1 1 0.9" />
      </material>
    </visual>
  </link>

  <!-- front_caster -->
  <joint name="front_caster_joint" type="continuous">
    <origin xyz="0.1135 0 -0.0165" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="front_caster_link" />
    <axis xyz="0 1 0"/>
  </joint>

  <link name="front_caster_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.0165" />
      </geometry>
      <material name="black">
        <color rgba="0 0 0 0.95" />
      </material>
    </visual>
  </link>

  <!-- standoff1_1 -->
  <joint name="standoff1_1_joint" type="fixed">
    <origin xyz="0.06 0.10 0.035" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="standoff1_1_link" />
  </joint>

  <link name="standoff1_1_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.07" />
      </geometry>
      <material name="black">
        <color rgba="0.16 0.17 0.15 0.9" />
      </material>
    </visual>
  </link>

  <!-- standoff1_2 -->
  <joint name="standoff1_2_joint" type="fixed">
    <origin xyz="0.06 -0.10 0.035" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="standoff1_2_link" />
  </joint>

  <link name="standoff1_2_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.07" />
      </geometry>
      <material name="black">
        <color rgba="0.16 0.17 0.15 0.9" />
      </material>
    </visual>
  </link>

  <!-- standoff1_3 -->
  <joint name="standoff1_3_joint" type="fixed">
    <origin xyz="-0.09 0.07 0.035" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="standoff1_3_link" />
  </joint>

  <link name="standoff1_3_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.07" />
      </geometry>
      <material name="black">
        <color rgba="0.16 0.17 0.15 0.9" />
      </material>
    </visual>
  </link>

  <!-- standoff1_4 -->
  <joint name="standoff1_4_joint" type="fixed">
    <origin xyz="-0.09 -0.07 0.035" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="standoff1_4_link" />
  </joint>

  <link name="standoff1_4_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.07" />
      </geometry>
      <material name="black">
        <color rgba="0.16 0.17 0.15 0.9" />
      </material>
    </visual>
  </link>

  <!-- standoff2_1 -->
  <joint name="standoff2_1_joint" type="fixed">
    <origin xyz="0.06 0.10 0.035" rpy="0 0 0" />
    <parent link="plate_1_link" />
    <child link="standoff2_1_link" />
  </joint>

  <link name="standoff2_1_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.07" />
      </geometry>
      <material name="black">
        <color rgba="0.16 0.17 0.15 0.9" />
      </material>
    </visual>
  </link>

  <!-- standoff2_2 -->
  <joint name="standoff2_2_joint" type="fixed">
    <origin xyz="0.06 -0.10 0.035" rpy="0 0 0" />
    <parent link="plate_1_link" />
    <child link="standoff2_2_link" />
  </joint>

  <link name="standoff2_2_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.07" />
      </geometry>
      <material name="black">
        <color rgba="0.16 0.17 0.15 0.9" />
      </material>
    </visual>
  </link>

  <!-- standoff2_3 -->
  <joint name="standoff2_3_joint" type="fixed">
    <origin xyz="-0.09 0.07 0.035" rpy="0 0 0" />
    <parent link="plate_1_link" />
    <child link="standoff2_3_link" />
  </joint>

  <link name="standoff2_3_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.07" />
      </geometry>
      <material name="black">
        <color rgba="0.16 0.17 0.15 0.9" />
      </material>
    </visual>
  </link>

  <!-- standoff2_4 -->
  <joint name="standoff2_4_joint" type="fixed">
    <origin xyz="-0.09 -0.07 0.035" rpy="0 0 0" />
    <parent link="plate_1_link" />
    <child link="standoff2_4_link" />
  </joint>

  <link name="standoff2_4_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.07" />
      </geometry>
      <material name="black">
        <color rgba="0.16 0.17 0.15 0.9" />
      </material>
    </visual>
  </link>

  <!-- plate_1 -->
  <joint name="plate_1_joint" type="fixed">
    <origin xyz="0 0 0.07" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="plate_1_link" />
  </joint>

  <link name="plate_1_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.005" radius="0.13" />
      </geometry>
      <material name="yellow">
        <color rgba="1 0.4 0 1" />
      </material>
    </visual>
  </link>

  <!-- plate_2 -->
  <joint name="plate_2_joint" type="fixed">
    <origin xyz="0 0 0.07" rpt="0 0 0" />
    <parent link="plate_1_link" />
    <child link="plate_2_link" />
  </joint>

  <link name="plate_2_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.005" radius="0.13" />
      </geometry>
      <material name="yellow">
        <color rgba="1 0.4 0 1" />
      </material>
    </visual>
  </link>

  <!-- kenetic -->
  <joint name="kinetic_joint" type="fixed">
    <origin xyz ="-0.06 0 0.035" />
    <parent link="plate_2_link" />
    <child link="kinetic_link" />
  </joint>

  <link name="kinetic_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 1.5708" />
      <geometry>
        <mesh filename="package://ch5/meshes/kinect.dae" />
      </geometry>
    </visual>
  </link>

</robot>

运行结果