Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We鈥檒l occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add optional parameter to generate Fixed/Coninuous caster joint #100

Merged
merged 1 commit into from Jul 6, 2023
Merged

Add optional parameter to generate Fixed/Coninuous caster joint #100

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
2 changes: 2 additions & 0 deletions andino_description/urdf/andino.urdf.xacro
View file
Open in desktop
Expand Up @@ -10,6 +10,7 @@

<xacro:property name="caster_wheel_yaml" value="$(find ${package_name})/config/${robot_name}/caster_wheel.yaml" />
<xacro:property name="caster_wheel_props" value="${xacro.load_yaml(caster_wheel_yaml)}"/>
<xacro:arg name="use_fixed_caster" default="True"/>

<xacro:property name="wheel_yaml" value="$(find ${package_name})/config/${robot_name}/wheel.yaml" />
<xacro:property name="wheel_props" value="${xacro.load_yaml(wheel_yaml)}"/>
Expand Down Expand Up @@ -44,6 +45,7 @@

<!-- Caster Wheel -->
<xacro:caster_wheel reflect="-1"
use_fixed="$(arg use_fixed_caster)"
wheel_props="${caster_wheel_props}">
</xacro:caster_wheel>

Expand Down
58 changes: 41 additions & 17 deletions andino_description/urdf/include/andino_caster_macro.urdf.xacro
View file
Open in desktop
Expand Up @@ -9,6 +9,7 @@

params:
- reflect [1/-1]: value to set the side of the caster;
- use_fixed [bool]: wheter to use a fixed model or not
- wheel_props [dictionary]: wheel properties;
- base_props [dictionary]: base link properties;
- mesh [string]: file name of the wheel mesh;
Expand All @@ -17,7 +18,7 @@

<!-- Caster wheel link & joint macro -->
<xacro:macro name="caster_wheel"
params="reflect wheel_props locationright:=${0} scale:=''">
params="reflect use_fixed wheel_props locationright:=${0} scale:=''">
<link name="caster_base_link">
<xacro:box_inertia m="${wheel_props['base']['mass']}"
x="${wheel_props['base']['size']['x']}"
Expand Down Expand Up @@ -56,7 +57,7 @@
</collision>
</link>
<joint name="caster_base_joint" type="fixed">
<origin xyz="${wheel_props['base']['dx']} ${-wheel_props['base']['dy'] * locationright} ${wheel_props['base']['dz']}"
<origin xyz="${wheel_props['base']['dx']} ${-wheel_props['base']['dy'] * locationright} ${wheel_props['base']['dz']}"
rpy="0 0 0" />
<parent link="base_link" />
<child link="caster_base_link" />
Expand Down Expand Up @@ -103,14 +104,26 @@
</geometry>
</collision>
</link>
<joint name="caster_rotation_joint" type="fixed">
<origin xyz="${wheel_props['hub']['dx']} ${-wheel_props['hub']['dy'] * locationright} ${wheel_props['hub']['dz']}"
rpy="0 0 0" />
<parent link="base_link" />
<child link="caster_rotation_link" />
<axis xyz="0 0 1" />
<dynamics damping="0.01" friction="0.0"/>
</joint>
<xacro:if value="${use_fixed}">
<joint name="caster_rotation_joint" type="fixed">
<origin xyz="${wheel_props['hub']['dx']} ${-wheel_props['hub']['dy'] * locationright} ${wheel_props['hub']['dz']}"
rpy="0 0 0" />
<parent link="base_link" />
<child link="caster_rotation_link" />
<axis xyz="0 0 1" />
<dynamics damping="0.01" friction="0.0"/>
</joint>
</xacro:if>
<xacro:unless value="${use_fixed}">
<joint name="caster_rotation_joint" type="continuous">
<origin xyz="${wheel_props['hub']['dx']} ${-wheel_props['hub']['dy'] * locationright} ${wheel_props['hub']['dz']}"
rpy="0 0 0" />
<parent link="base_link" />
<child link="caster_rotation_link" />
<axis xyz="0 0 1" />
<dynamics damping="0.01" friction="0.0"/>
</joint>
</xacro:unless>


<!-- caster wheel -->
Expand Down Expand Up @@ -149,13 +162,24 @@
</geometry>
</collision>
</link>
<joint name="caster_wheel_joint" type="fixed">
<origin xyz="${wheel_props['wheel']['dx']} ${-wheel_props['wheel']['dy'] * locationright} ${wheel_props['wheel']['dz']}"
rpy="0 0 0" />
<parent link="caster_rotation_link" />
<child link="caster_wheel_link" />
<axis xyz="0 1 0" />
</joint>
<xacro:if value="${use_fixed}">
<joint name="caster_wheel_joint" type="fixed">
<origin xyz="${wheel_props['wheel']['dx']} ${-wheel_props['wheel']['dy'] * locationright} ${wheel_props['wheel']['dz']}"
rpy="0 0 0" />
<parent link="caster_rotation_link" />
<child link="caster_wheel_link" />
<axis xyz="0 1 0" />
</joint>
</xacro:if>
<xacro:unless value="${use_fixed}">
<joint name="caster_wheel_joint" type="continuous">
<origin xyz="${wheel_props['wheel']['dx']} ${-wheel_props['wheel']['dy'] * locationright} ${wheel_props['wheel']['dz']}"
rpy="0 0 0" />
<parent link="caster_rotation_link" />
<child link="caster_wheel_link" />
<axis xyz="0 1 0" />
</joint>
</xacro:unless>
</xacro:macro>

</robot>