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Ryan4253Ryan4253
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Create common_xacro package and move shareable parts
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+65
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9 files changed

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‎common_xacro/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(common_xacro)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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install(
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DIRECTORY urdf
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎common_xacro/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>common_xacro</name>
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<version>1.0.0</version>
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<description>ARV Common Xacro Files</description>
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<maintainer email="[email protected]">Ryan Liao</maintainer>
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<license>MIT</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>joint_state_publisher</exec_depend>
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<exec_depend>joint_state_publisher_gui</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<exec_depend>xacro</exec_depend>
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<exec_depend>gazebo_ros_pkgs</exec_depend>
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<exec_depend>rclcpp</exec_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

marvin_simulation/urdf/inertia.xacro renamed to common_xacro/urdf/physics/inertia.xacro

File renamed without changes.

marvin_simulation/urdf/depth_camera.xacro renamed to common_xacro/urdf/sensor/depth_camera.xacro

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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="depth_camera">
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<xacro:macro name="depth_camera" params="name mass length width height parent:=base_link *joint_origin">
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<!-- Includes -->
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<xacro:include filename="$(find marvin_simulation)/urdf/inertia.xacro"/>
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<xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
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<!-- Depth camera base link -->
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<link name="${name}_base_link" />

marvin_simulation/urdf/imu.xacro renamed to common_xacro/urdf/sensor/imu.xacro

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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="caster">
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<xacro:macro name="imu" params="name mass length width height parent:=base_link *joint_origin">
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<!-- Includes -->
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<xacro:include filename="$(find marvin_simulation)/urdf/inertia.xacro"/>
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<xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
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<!-- Imu base link -->
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<link name="${name}_base_link" />

marvin_simulation/urdf/caster.xacro renamed to common_xacro/urdf/wheel/caster.xacro

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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="caster">
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<xacro:macro name="caster" params="name mass radius parent:=base_link *joint_origin">
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<!-- Includes -->
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<xacro:include filename="$(find marvin_simulation)/urdf/inertia.xacro"/>
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<xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
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<!-- Caster link -->
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<link name="${name}_link">

marvin_simulation/urdf/wheel.xacro renamed to common_xacro/urdf/wheel/wheel.xacro

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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="wheel">
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<xacro:macro name="wheel" params="name mass radius width parent:=base_link *joint_origin">
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<!-- Includes -->
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<xacro:include filename="$(find marvin_simulation)/urdf/inertia.xacro"/>
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<xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
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<!-- Wheel link -->
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<link name="${name}_link">

‎marvin_simulation/urdf/chassis.xacro‎

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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="chassis">
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<!-- Includes -->
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<xacro:include filename="$(find marvin_simulation)/urdf/inertia.xacro"/>
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<xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
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<xacro:include filename="$(find marvin_simulation)/urdf/constants.xacro"/>
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<!-- Chassis link -->

‎marvin_simulation/urdf/marvin.xacro‎

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<!-- Caster -->
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<xacro:include filename="$(find marvin_simulation)/urdf/caster.xacro"/>
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<xacro:include filename="$(find common_xacro)/urdf/wheel/caster.xacro"/>
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<xacro:caster name="caster" mass="${caster_mass}" radius="${caster_radius}">
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<origin xyz="${caster_x_offset} 0 ${caster_radius-chassis_z_offset}" rpy="0 0 0" />
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</xacro:caster>
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<!-- Wheels -->
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<xacro:include filename="$(find marvin_simulation)/urdf/wheel.xacro"/>
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<xacro:include filename="$(find common_xacro)/urdf/wheel/wheel.xacro"/>
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<xacro:wheel name="right_wheel" mass="${wheel_mass}" radius="${wheel_radius}" width="${wheel_width}">
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<origin xyz="0 -${track_width / 2} ${wheel_radius-chassis_z_offset}" rpy="0 0 0" />
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</xacro:wheel>
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<!-- Camera -->
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<xacro:include filename="$(find marvin_simulation)/urdf/depth_camera.xacro" />
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<xacro:include filename="$(find common_xacro)/urdf/sensor/depth_camera.xacro" />
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<xacro:depth_camera name="zed" mass="${camera_mass}" length = "${camera_length}" width="${camera_width}" height="${camera_height}" parent="base_link">
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<origin xyz="${camera_x_offset} 0 ${camera_z_offset}" rpy="0 ${camera_angle} 0" />
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</xacro:depth_camera>
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<!-- IMU -->
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<xacro:include filename="$(find marvin_simulation)/urdf/imu.xacro" />
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<xacro:include filename="$(find common_xacro)/urdf/sensor/imu.xacro" />
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<xacro:imu name="imu" mass="${imu_mass}" length="${imu_length}" width="${imu_width}" height="${imu_height}">
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<origin xyz="${-chassis_tower_length / 2 - chassis_electrical_length/2} 0 ${chassis_electrical_height}" rpy="0 0 0" />
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</xacro:imu>

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