|
|
@@ -196,9 +196,123 @@ IMU传感器和透明度与颜色修改是上节课，作业，小鱼先带你
|
|
|
</joint>
|
|
|
```
|
|
|
|
|
|
-> 最终URDF文件：https://raw.githubusercontent.com/fishros/fishbot/master/src/fishbot_description/urdf/fishbot_base.urdf
|
|
|
+最终URDF文件
|
|
|
|
|
|
+```
|
|
|
+<?xml version="1.0"?>
|
|
|
+<robot name="fishbot">
|
|
|
+
|
|
|
+ <!-- base link -->
|
|
|
+ <link name="base_link">
|
|
|
+ <visual>
|
|
|
+ <origin xyz="0 0 0.0" rpy="0 0 0"/>
|
|
|
+ <geometry>
|
|
|
+ <cylinder length="0.12" radius="0.10"/>
|
|
|
+ </geometry>
|
|
|
+ <material name="blue">
|
|
|
+ <color rgba="0.1 0.1 1.0 0.5" />
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </link>
|
|
|
+
|
|
|
+ <!-- laser link -->
|
|
|
+ <link name="laser_link">
|
|
|
+ <visual>
|
|
|
+ <origin xyz="0 0 0" rpy="0 0 0"/>
|
|
|
+ <geometry>
|
|
|
+ <cylinder length="0.02" radius="0.02"/>
|
|
|
+ </geometry>
|
|
|
+ <material name="black">
|
|
|
+ <color rgba="0.0 0.0 0.0 0.5" />
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </link>
|
|
|
+
|
|
|
+ <!-- laser joint -->
|
|
|
+ <joint name="laser_joint" type="fixed">
|
|
|
+ <parent link="base_link" />
|
|
|
+ <child link="laser_link" />
|
|
|
+ <origin xyz="0 0 0.075" />
|
|
|
+ </joint>
|
|
|
|
|
|
+ <link name="imu_link">
|
|
|
+ <visual>
|
|
|
+ <origin xyz="0 0 0.0" rpy="0 0 0"/>
|
|
|
+ <geometry>
|
|
|
+ <box size="0.02 0.02 0.02"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ </link>
|
|
|
+
|
|
|
+ <!-- imu joint -->
|
|
|
+ <joint name="imu_joint" type="fixed">
|
|
|
+ <parent link="base_link" />
|
|
|
+ <child link="imu_link" />
|
|
|
+ <origin xyz="0 0 0.02" />
|
|
|
+ </joint>
|
|
|
+
|
|
|
+
|
|
|
+ <link name="left_wheel_link">
|
|
|
+ <visual>
|
|
|
+ <origin xyz="0 0 0" rpy="1.57079 0 0"/>
|
|
|
+ <geometry>
|
|
|
+ <cylinder length="0.04" radius="0.032"/>
|
|
|
+ </geometry>
|
|
|
+ <material name="black">
|
|
|
+ <color rgba="0.0 0.0 0.0 0.5" />
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </link>
|
|
|
+
|
|
|
+ <joint name="left_wheel_joint" type="continuous">
|
|
|
+ <parent link="base_link" />
|
|
|
+ <child link="left_wheel_link" />
|
|
|
+ <origin xyz="-0.02 0.10 -0.06" />
|
|
|
+ <axis xyz="0 1 0" />
|
|
|
+ </joint>
|
|
|
+
|
|
|
+ <link name="right_wheel_link">
|
|
|
+ <visual>
|
|
|
+ <origin xyz="0 0 0" rpy="1.57079 0 0"/>
|
|
|
+ <geometry>
|
|
|
+ <cylinder length="0.04" radius="0.032"/>
|
|
|
+ </geometry>
|
|
|
+ <material name="black">
|
|
|
+ <color rgba="0.0 0.0 0.0 0.5" />
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </link>
|
|
|
+
|
|
|
+ <joint name="right_wheel_joint" type="continuous">
|
|
|
+ <parent link="base_link" />
|
|
|
+ <child link="right_wheel_link" />
|
|
|
+ <origin xyz="-0.02 -0.10 -0.06" />
|
|
|
+ <axis xyz="0 1 0" />
|
|
|
+ </joint>
|
|
|
+
|
|
|
+ <link name="caster_link">
|
|
|
+ <visual>
|
|
|
+ <origin xyz="0 0 0" rpy="1.57079 0 0"/>
|
|
|
+ <geometry>
|
|
|
+ <sphere radius="0.016"/>
|
|
|
+ </geometry>
|
|
|
+ <material name="black">
|
|
|
+ <color rgba="0.0 0.0 0.0 0.5" />
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </link>
|
|
|
+
|
|
|
+ <joint name="caster_joint" type="fixed">
|
|
|
+ <parent link="base_link" />
|
|
|
+ <child link="caster_link" />
|
|
|
+ <origin xyz="0.06 0.0 -0.076" />
|
|
|
+ <axis xyz="0 1 0" />
|
|
|
+ </joint>
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+</robot>
|
|
|
+```
|
|
|
|
|
|
|
|
|
|
鱼香ROS