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Hotfix 1.3.5 alpha #23

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Merged
gmfricke merged 5 commits into from
Sep 7, 2017
Merged

Hotfix 1.3.5 alpha #23

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a9cfc01
updated .gitignore to ignore .catkin_tools directory
Antonio-Griego Sep 6, 2017
1f403ca
updated rover model files with bumper collision boxes
Antonio-Griego Sep 7, 2017
cbb07c9
Bug fix: rovers stuck on target clusters
gmfricke Sep 7, 2017
9d49761
Merge branch 'hotfix-1.3.5-alpha' of https://github.com/BCLab-UNM/Swa…
gmfricke Sep 7, 2017
8780704
Moved wheel guards and renamed
gmfricke Sep 7, 2017
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3 changes: 2 additions & 1 deletion .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -4,4 +4,5 @@ build
devel
**/CMakeLists.txt.user*
*.swp
logs
logs
.catkin_tools
95 changes: 58 additions & 37 deletions simulation/models/achilles/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -6,14 +6,14 @@

<link name='base_link'>
<inertial>
<mass>3.0</mass>
<mass>3</mass>
<inertia>
<ixx>0.06</ixx>
<ixx>0.006</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.06</iyy>
<iyy>0.006</iyy>
<iyz>0.0</iyz>
<izz>0.06</izz>
<izz>0.006</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
Expand All @@ -24,6 +24,7 @@
</box>
</geometry>
</collision>

<visual name='base_link_visual'>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
Expand Down Expand Up @@ -93,7 +94,7 @@
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<scan>3.0
<horizontal>
<samples>3</samples>
<resolution>1.0</resolution>
Expand Down Expand Up @@ -184,6 +185,16 @@
</box>
</geometry>
</collision>

<collision name='wheel_guard_front_left_collision'>
<pose>0.148 0.13 -0.05 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.08 0.06</size>
</box>
</geometry>
</collision>

<collision name='cow_catcher_front_right_collision'>
<pose>0.1675 -0.06 -0.05 0 -0.4 -0.3</pose>
<geometry>
Expand All @@ -192,6 +203,16 @@
</box>
</geometry>
</collision>

<collision name='wheel_guard_front_right_collision'>
<pose>0.148 -0.13 -0.05 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.08 0.06</size>
</box>
</geometry>
</collision>

<visual name='cow_catcher_front_visual'>
<pose>0.1675 0 -0.08 1.57079 0 0</pose>
<geometry>
Expand All @@ -208,7 +229,7 @@
</visual>

<collision name='cow_catcher_back_lower_collision'>
<pose>-0.1375 0.0 -0.0725 1.57079 1.05 0.0</pose>
<pose>-0.1305 0.0 -0.0665 1.57079 1.05 0.0</pose>
<geometry>
<box>
<size>0.01 0.03 0.18</size>
Expand Down Expand Up @@ -237,12 +258,12 @@
<inertial>
<mass>0.03</mass>
<inertia>
<ixx>0.245</ixx> <!--> 1/12*(mass)(h^2 + d^2) where h,d,w are in meters and mass is in kilograms <-->
<ixx>0.00245</ixx> <!--> 1/12*(mass)(h^2 + d^2) where h,d,w are in meters and mass is in kilograms <-->
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.185</iyy> <!--> 1/12*(mass)(w^2 + d^2) <-->
<iyy>0.00185</iyy> <!--> 1/12*(mass)(w^2 + d^2) <-->
<iyz>0.0</iyz>
<izz>0.185</izz> <!--> 1/12*(mass)(w^2 + h^2) <-->
<izz>0.00185</izz> <!--> 1/12*(mass)(w^2 + h^2) <-->
</inertia>
</inertial>

Expand Down Expand Up @@ -288,7 +309,7 @@
<link name="gripper_left_finger">
<pose>0.214 0.016 0.0095 0 0 0</pose>
<inertial>
<mass>0.001</mass>
<mass>0.005</mass>
<inertia>
<ixx>0.0000833</ixx>
<ixy>0.0</ixy>
Expand Down Expand Up @@ -369,7 +390,7 @@
<link name="gripper_right_finger">
<pose>0.214 -0.016 0.0095 0 0 0</pose>
<inertial>
<mass>0.001</mass>
<mass>0.005</mass>
<inertia>
<ixx>0.0000833</ixx>
<ixy>0.0</ixy>
Expand Down Expand Up @@ -411,7 +432,7 @@
</friction>
</surface>
</collision>
<visual name="visual">
<visual name="visual">3.0
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
Expand Down Expand Up @@ -450,14 +471,14 @@
<link name="left_front_wheel">
<pose>0.095 0.135 -0.03 0 0 0</pose>
<inertial>
<mass>0.05</mass>
<mass>1.0</mass>
<inertia>
<ixx>0.000082</ixx>
<ixx>0.000776</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.000063</iyy>
<iyy>0.0012</iyy>
<iyz>0.0</iyz>
<izz>0.000082</izz>
<izz>0.000776</izz>
</inertia>
</inertial>
<collision name="collision">
Expand Down Expand Up @@ -502,14 +523,14 @@
<link name="right_front_wheel">base_link
<pose>0.095 -0.135 -0.03 0 0 0</pose>
<inertial>
<mass>0.05</mass>
<mass>1.0</mass>
<inertia>
<ixx>0.000082</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.000063</iyy>
<iyz>0.0</iyz>
<izz>0.000082</izz>
<ixx>0.000776</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0012</iyy>
<iyz>0.0</iyz>
<izz>0.000776</izz>
</inertia>
</inertial>
<collision name="collision">
Expand Down Expand Up @@ -554,14 +575,14 @@
<link name="left_rear_wheel">
<pose>-0.095 0.135 -0.03 0 0 0</pose>
<inertial>
<mass>0.05</mass>
<mass>1.0</mass>
<inertia>
<ixx>0.000082</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.000082</iyy>
<iyz>0.0</iyz>
<izz>0.000063</izz>
<ixx>0.000776</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0012</iyy>
<iyz>0.0</iyz>
<izz>0.000776</izz>
</inertia>
</inertial>
<collision name="collision">
Expand Down Expand Up @@ -606,14 +627,14 @@
<link name="right_rear_wheel">
<pose>-0.095 -0.135 -0.03 0 0 0</pose>
<inertial>
<mass>0.05</mass>
<mass>1.0</mass>
<inertia>
<ixx>0.000082</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.000063</iyy>
<iyz>0.0</iyz>
<izz>0.000082</izz>
<ixx>0.000776</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0012</iyy>
<iyz>0.0</iyz>
<izz>0.000776</izz>
</inertia>
</inertial>
<collision name="collision">
Expand Down
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