Updated RPLIDAR mounted positioning and added mounting plates

Author: billymccafferty

scripts/build_launch_xerbo_description.sh

@@ -0,0 +1,3 @@
+colcon build
+. install/setup.bash
+ros2 launch xerbo_description display.launch.py

src/xerbo_description/urdf/imu.urdf.xacro

@@ -11,18 +11,20 @@
       <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
     </inertial>
 
-    <visual>
+    <collision>
       <geometry>
         <box size="${imu_x_size} ${imu_y_size} ${imu_z_size}"/>
       </geometry>
-    </visual>
+    </collision>
 
-    <collision>
+    <visual>
       <geometry>
         <box size="${imu_x_size} ${imu_y_size} ${imu_z_size}"/>
       </geometry>
-    </collision>
-
+      <material name="hunter-green">
+        <color rgba="255 87 51 1"/>
+      </material>
+    </visual>
   </link>
 
   <joint name="imu_joint" type="fixed">

src/xerbo_description/urdf/lidar.gazebo.urdf.xacro

@@ -17,7 +17,7 @@
         </scan>
         <range>
           <min>0.120000</min>
-          <max>3.5</max>
+          <max>12.0</max>
           <resolution>0.015000</resolution>
         </range>
         <noise>

src/xerbo_description/urdf/lidar.urdf.xacro

@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:property name="lidar_radius" value="0.0508" />
-  <xacro:property name="lidar_length" value="0.0555" />
+  <xacro:property name="lidar_radius" value="0.035" />
+  <xacro:property name="lidar_length" value="0.0254" />
 
   <link name="lidar_link">
     <inertial>
       <origin xyz="0 0 0" rpy="0 0 0"/>
-      <mass value="0.125"/>
+      <mass value="0.17"/>
       <inertia ixx="0.001"  ixy="0"  ixz="0" iyy="0.001" iyz="0" izz="0.001" />
     </inertial>
 
@@ -22,13 +22,14 @@
       <geometry>
         <cylinder radius="${lidar_radius}" length="${lidar_length}"/>
       </geometry>
+      <material name="black"/>
     </visual>
   </link>
 
   <joint name="lidar_joint" type="fixed">
     <parent link="base_link"/>
     <child link="lidar_link"/>
-    <origin xyz="0 0 0.25" rpy="0 0 0"/>
+    <origin xyz="0.115 0 0.10375" rpy="0 0 0"/>
   </joint>    
 
   <xacro:include filename="$(find xerbo_description)/urdf/lidar.gazebo.urdf.xacro" />  

src/xerbo_description/urdf/mounting-frame.urdf.xacro

@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:property name="mounting_plate_radius" value="0.1524" />
+  <xacro:property name="mounting_plate_length" value="0.00746125" />
+
+  <xacro:macro name="create_plate_link" params="name_prefix origin_z">
+    <link name="${name_prefix}_plate_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.205"/>
+        <inertia ixx="0.001"  ixy="0"  ixz="0" iyy="0.001" iyz="0" izz="0.001" />
+      </inertial>
+
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <cylinder radius="${mounting_plate_radius}" length="${mounting_plate_length}"/>
+        </geometry>
+      </collision>
+
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <cylinder radius="${mounting_plate_radius}" length="${mounting_plate_length}"/>
+        </geometry>
+        <material name="black-opaque">
+          <color rgba="0 0 0 0.75"/>
+        </material>
+      </visual>
+    </link>
+      
+    <joint name="${name_prefix}_plate_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="${name_prefix}_plate_link"/>
+      <origin xyz="0 0 ${origin_z}" rpy="0 0 0"/>
+    </joint>
+  </xacro:macro>
+
+  <xacro:create_plate_link name_prefix="first" origin_z="0.1497875" />
+  <xacro:create_plate_link name_prefix="second" origin_z="0.20535" />
+
+</robot>

src/xerbo_description/urdf/xerbo.urdf.xacro

@@ -1,15 +1,8 @@
 <?xml version="1.0"?>
 <robot name="xerbo" xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <xacro:macro name="box_inertia" params="m w h d">
-    <inertial>
-      <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>      
-      <mass value="${m}"/>
-      <inertia ixx="${(m/12) * (h*h + d*d)}" ixy="0.0" ixz="0.0" iyy="${(m/12) * (w*w + d*d)}" iyz="0.0" izz="${(m/12) * (w*w + h*h)}"/>
-    </inertial>
-  </xacro:macro>
-
   <xacro:include filename="$(find xerbo_description)/urdf/base.urdf.xacro" />
+  <xacro:include filename="$(find xerbo_description)/urdf/mounting-frame.urdf.xacro" />
   <xacro:include filename="$(find xerbo_description)/urdf/imu.urdf.xacro" />
   <xacro:include filename="$(find xerbo_description)/urdf/lidar.urdf.xacro" />