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stretch_ros
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Added stretch base imu link to stretch_description

autodock/move_base
Mohamed Fazil 1 year ago
parent
f0e80b083e
commit
5a4d106561
19 changed files with 550 additions and 0 deletions
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  1. BIN
     
  2. +61
    -0
      stretch_description/batch/guthrie/urdf/stretch_base_imu.xacro
  3. BIN
     
  4. +61
    -0
      stretch_description/batch/hank/urdf/stretch_base_imu.xacro
  5. BIN
     
  6. +61
    -0
      stretch_description/batch/irma/urdf/stretch_base_imu.xacro
  7. BIN
     
  8. +61
    -0
      stretch_description/batch/joplin/urdf/stretch_base_imu.xacro
  9. BIN
     
  10. +61
    -0
      stretch_description/batch/kendrick/urdf/stretch_base_imu.xacro
  11. BIN
     
  12. +61
    -0
      stretch_description/batch/louis/urdf/stretch_base_imu.xacro
  13. BIN
     
  14. +61
    -0
      stretch_description/batch/mitski/urdf/stretch_base_imu.xacro
  15. BIN
     
  16. +61
    -0
      stretch_description/batch/nina/urdf/stretch_base_imu.xacro
  17. BIN
     
  18. +61
    -0
      stretch_description/urdf/stretch_base_imu.xacro
  19. +1
    -0
      stretch_description/urdf/stretch_description.xacro

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+ 61
- 0
stretch_description/batch/guthrie/urdf/stretch_base_imu.xacro View File

@ -0,0 +1,61 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_base_imu">
<link
name="base_imu">
<inertial>
<origin
xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
rpy="0 0 0" />
<mass
value="0.000901473198307758" />
<inertia
ixx="2.83324000746358E-08"
ixy="-2.10106175504755E-10"
ixz="1.86717014516205E-10"
iyy="5.35315990744214E-08"
iyz="9.31114208976591E-11"
izz="8.13221670783358E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
<material
name="">
<color
rgba="0 0.772549019607843 0.207843137254902 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_imu"
type="fixed">
<origin
xyz="-0.12838 0.0031592 0.1474"
rpy="-3.1416 0 -1.5708" />
<parent
link="base_link" />
<child
link="base_imu" />
<axis
xyz="0 0 0" />
</joint>
</robot>

BIN
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+ 61
- 0
stretch_description/batch/hank/urdf/stretch_base_imu.xacro View File

@ -0,0 +1,61 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_base_imu">
<link
name="base_imu">
<inertial>
<origin
xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
rpy="0 0 0" />
<mass
value="0.000901473198307758" />
<inertia
ixx="2.83324000746358E-08"
ixy="-2.10106175504755E-10"
ixz="1.86717014516205E-10"
iyy="5.35315990744214E-08"
iyz="9.31114208976591E-11"
izz="8.13221670783358E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
<material
name="">
<color
rgba="0 0.772549019607843 0.207843137254902 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_imu"
type="fixed">
<origin
xyz="-0.12838 0.0031592 0.1474"
rpy="-3.1416 0 -1.5708" />
<parent
link="base_link" />
<child
link="base_imu" />
<axis
xyz="0 0 0" />
</joint>
</robot>

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+ 61
- 0
stretch_description/batch/irma/urdf/stretch_base_imu.xacro View File

@ -0,0 +1,61 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_base_imu">
<link
name="base_imu">
<inertial>
<origin
xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
rpy="0 0 0" />
<mass
value="0.000901473198307758" />
<inertia
ixx="2.83324000746358E-08"
ixy="-2.10106175504755E-10"
ixz="1.86717014516205E-10"
iyy="5.35315990744214E-08"
iyz="9.31114208976591E-11"
izz="8.13221670783358E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
<material
name="">
<color
rgba="0 0.772549019607843 0.207843137254902 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_imu"
type="fixed">
<origin
xyz="-0.12838 0.0031592 0.1474"
rpy="-3.1416 0 -1.5708" />
<parent
link="base_link" />
<child
link="base_imu" />
<axis
xyz="0 0 0" />
</joint>
</robot>

BIN
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+ 61
- 0
stretch_description/batch/joplin/urdf/stretch_base_imu.xacro View File

@ -0,0 +1,61 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_base_imu">
<link
name="base_imu">
<inertial>
<origin
xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
rpy="0 0 0" />
<mass
value="0.000901473198307758" />
<inertia
ixx="2.83324000746358E-08"
ixy="-2.10106175504755E-10"
ixz="1.86717014516205E-10"
iyy="5.35315990744214E-08"
iyz="9.31114208976591E-11"
izz="8.13221670783358E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
<material
name="">
<color
rgba="0 0.772549019607843 0.207843137254902 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_imu"
type="fixed">
<origin
xyz="-0.12838 0.0031592 0.1474"
rpy="-3.1416 0 -1.5708" />
<parent
link="base_link" />
<child
link="base_imu" />
<axis
xyz="0 0 0" />
</joint>
</robot>

BIN
View File


+ 61
- 0
stretch_description/batch/kendrick/urdf/stretch_base_imu.xacro View File

@ -0,0 +1,61 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_base_imu">
<link
name="base_imu">
<inertial>
<origin
xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
rpy="0 0 0" />
<mass
value="0.000901473198307758" />
<inertia
ixx="2.83324000746358E-08"
ixy="-2.10106175504755E-10"
ixz="1.86717014516205E-10"
iyy="5.35315990744214E-08"
iyz="9.31114208976591E-11"
izz="8.13221670783358E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
<material
name="">
<color
rgba="0 0.772549019607843 0.207843137254902 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_imu"
type="fixed">
<origin
xyz="-0.12838 0.0031592 0.1474"
rpy="-3.1416 0 -1.5708" />
<parent
link="base_link" />
<child
link="base_imu" />
<axis
xyz="0 0 0" />
</joint>
</robot>

BIN
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+ 61
- 0
stretch_description/batch/louis/urdf/stretch_base_imu.xacro View File

@ -0,0 +1,61 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_base_imu">
<link
name="base_imu">
<inertial>
<origin
xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
rpy="0 0 0" />
<mass
value="0.000901473198307758" />
<inertia
ixx="2.83324000746358E-08"
ixy="-2.10106175504755E-10"
ixz="1.86717014516205E-10"
iyy="5.35315990744214E-08"
iyz="9.31114208976591E-11"
izz="8.13221670783358E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
<material
name="">
<color
rgba="0 0.772549019607843 0.207843137254902 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_imu"
type="fixed">
<origin
xyz="-0.12838 0.0031592 0.1474"
rpy="-3.1416 0 -1.5708" />
<parent
link="base_link" />
<child
link="base_imu" />
<axis
xyz="0 0 0" />
</joint>
</robot>

BIN
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+ 61
- 0
stretch_description/batch/mitski/urdf/stretch_base_imu.xacro View File

@ -0,0 +1,61 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_base_imu">
<link
name="base_imu">
<inertial>
<origin
xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
rpy="0 0 0" />
<mass
value="0.000901473198307758" />
<inertia
ixx="2.83324000746358E-08"
ixy="-2.10106175504755E-10"
ixz="1.86717014516205E-10"
iyy="5.35315990744214E-08"
iyz="9.31114208976591E-11"
izz="8.13221670783358E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
<material
name="">
<color
rgba="0 0.772549019607843 0.207843137254902 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_imu"
type="fixed">
<origin
xyz="-0.12838 0.0031592 0.1474"
rpy="-3.1416 0 -1.5708" />
<parent
link="base_link" />
<child
link="base_imu" />
<axis
xyz="0 0 0" />
</joint>
</robot>

BIN
View File


+ 61
- 0
stretch_description/batch/nina/urdf/stretch_base_imu.xacro View File

@ -0,0 +1,61 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_base_imu">
<link
name="base_imu">
<inertial>
<origin
xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
rpy="0 0 0" />
<mass
value="0.000901473198307758" />
<inertia
ixx="2.83324000746358E-08"
ixy="-2.10106175504755E-10"
ixz="1.86717014516205E-10"
iyy="5.35315990744214E-08"
iyz="9.31114208976591E-11"
izz="8.13221670783358E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
<material
name="">
<color
rgba="0 0.772549019607843 0.207843137254902 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_imu"
type="fixed">
<origin
xyz="-0.12838 0.0031592 0.1474"
rpy="-3.1416 0 -1.5708" />
<parent
link="base_link" />
<child
link="base_imu" />
<axis
xyz="0 0 0" />
</joint>
</robot>

BIN
View File


+ 61
- 0
stretch_description/urdf/stretch_base_imu.xacro View File

@ -0,0 +1,61 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_base_imu">
<link
name="base_imu">
<inertial>
<origin
xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
rpy="0 0 0" />
<mass
value="0.000901473198307758" />
<inertia
ixx="2.83324000746358E-08"
ixy="-2.10106175504755E-10"
ixz="1.86717014516205E-10"
iyy="5.35315990744214E-08"
iyz="9.31114208976591E-11"
izz="8.13221670783358E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
<material
name="">
<color
rgba="0 0.772549019607843 0.207843137254902 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/base_imu.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_imu"
type="fixed">
<origin
xyz="-0.12838 0.0031592 0.1474"
rpy="-3.1416 0 -1.5708" />
<parent
link="base_link" />
<child
link="base_imu" />
<axis
xyz="0 0 0" />
</joint>
</robot>

+ 1
- 0
stretch_description/urdf/stretch_description.xacro View File

@ -9,6 +9,7 @@
<xacro:include filename="stretch_aruco.xacro" />
<xacro:include filename="stretch_d435i.xacro" />
<xacro:include filename="stretch_laser_range_finder.xacro" />
<xacro:include filename="stretch_base_imu.xacro" />
<xacro:include filename="stretch_respeaker.xacro" />
</robot>

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