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601 lines
19 KiB
601 lines
19 KiB
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
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<xacro:arg name="gpu_lidar" default="false" />
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<xacro:arg name="visualize_lidar" default="false" />
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<xacro:include filename="$(find stretch_description)/urdf/stretch_main.xacro" />
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<xacro:include filename="$(find stretch_description)/urdf/stretch_aruco.xacro" />
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<xacro:include filename="$(find stretch_description)/urdf/stretch_d435i.xacro" />
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<xacro:include filename="$(find stretch_description)/urdf/stretch_laser_range_finder.xacro" />
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<xacro:include filename="$(find stretch_description)/urdf/stretch_respeaker.xacro" />
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<xacro:include filename="$(find stretch_description)/urdf/stretch_gripper.xacro" />
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>/</robotNamespace>
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</plugin>
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</gazebo>
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<!-- Base and Drive -->
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<gazebo reference="base_link">
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<material>Gazebo/Gray</material>
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</gazebo>
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<gazebo reference="link_right_wheel">
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<mu1 value="100.0"/>
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<mu2 value="200.0"/>
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<kp value="10000000.0" />
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<kd value="100.0" />
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<material>Gazebo/Blue</material>
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<minDepth>0.001</minDepth>
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</gazebo>
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<gazebo reference="link_left_wheel">
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<mu1 value="100.0"/>
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<mu2 value="200.0"/>
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<kp value="10000000.0" />
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<kd value="100.0" />
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<material>Gazebo/Blue</material>
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<minDepth>0.001</minDepth>
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</gazebo>
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<gazebo reference="caster_link">
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<turnGravityOff>false</turnGravityOff>
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<minDepth>0.001</minDepth>
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<material>Gazebo/Blue</material>
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<mu1>0.0</mu1>
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<mu2>0.0</mu2>
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</gazebo>
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<transmission name="right_wheel_trans" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="right_wheel_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="joint_right_wheel">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<transmission name="left_wheel_trans" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="left_wheel_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="joint_left_wheel">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<!-- Sensors -->
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<!-- Realsense D435i -->
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<gazebo reference="camera_color_frame">
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<sensor name="color" type="camera">
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<pose frame="">0 0 0 0 0 0</pose>
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<camera name="__default__">
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<horizontal_fov>1.5009831567151233</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>RGB_INT8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>0</visualize>
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</sensor>
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</gazebo>
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<gazebo reference="camera_infra1_frame">
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<sensor name="ired1" type="camera">
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<pose frame="">0 0 0 0 0 0</pose>
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<camera name="__default__">
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<horizontal_fov>1.5009831567151233</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>L_INT8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>0</visualize>
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</sensor>
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</gazebo>
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<gazebo reference="camera_infra2_frame">
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<sensor name="ired2" type="camera">
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<pose frame="">0 0 0 0 0 0</pose>
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<camera name="__default__">
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<horizontal_fov>1.5009831567151233</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>L_INT8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>0</visualize>
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</sensor>
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</gazebo>
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<gazebo reference="camera_depth_frame">
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<sensor name="depth" type="depth">
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<pose frame="">0 0 0 0 0 0</pose>
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<camera name="__default__">
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<horizontal_fov>1.5009831567151233</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>0</visualize>
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</sensor>
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</gazebo>
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<gazebo>
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<plugin name="camera" filename="librealsense_gazebo_plugin.so">
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<depthUpdateRate>30</depthUpdateRate>
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<colorUpdateRate>30</colorUpdateRate>
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<infraredUpdateRate>30</infraredUpdateRate>
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<depthTopicName>depth/image_raw</depthTopicName>
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<depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
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<colorTopicName>color/image_raw</colorTopicName>
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<colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
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<infrared1TopicName>infrared/image_raw</infrared1TopicName>
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<infrared1CameraInfoTopicName>infrared/camera_info</infrared1CameraInfoTopicName>
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<infrared2TopicName>infrared2/image_raw</infrared2TopicName>
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<infrared2CameraInfoTopicName>infrared2/camera_info</infrared2CameraInfoTopicName>
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<colorOpticalframeName>camera_color_optical_frame</colorOpticalframeName>
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<depthOpticalframeName>camera_depth_optical_frame</depthOpticalframeName>
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<infrared1OpticalframeName>camera_left_ir_optical_frame</infrared1OpticalframeName>
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<infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName>
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<rangeMinDepth>0.1</rangeMinDepth>
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<rangeMaxDepth>10</rangeMaxDepth>
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<pointCloud>1</pointCloud>
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<pointCloudTopicName>depth/color/points</pointCloudTopicName>
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<pointCloudCutoff>0.15</pointCloudCutoff>
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<pointCloudCutoffMax>10</pointCloudCutoffMax>
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</plugin>
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</gazebo>
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<gazebo reference="camera_gyro_frame">
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<gravity>true</gravity>
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<sensor name="imu_sensor" type="imu">
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<always_on>true</always_on>
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<visualize>false</visualize>
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<plugin name="imu_plugin" filename="libgazebo_ros_imu_sensor.so">
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<topicName>camera/imu/data</topicName>
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<bodyName>camera_gyro_frame</bodyName>
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<updateRateHZ>50.0</updateRateHZ>
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<gaussianNoise>0.001</gaussianNoise>
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<xyzOffset>0 0 0</xyzOffset>
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<rpyOffset>0 0 0</rpyOffset>
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<frameName>camera_gyro_frame</frameName>
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<initialOrientationAsReference>false</initialOrientationAsReference>
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</plugin>
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<pose>0 0 0 0 0 0</pose>
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</sensor>
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</gazebo>
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<!-- Aruco -->
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<gazebo reference="link_aruco_right_base">
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<material>Gazebo/Black</material>
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</gazebo>
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<gazebo reference="link_aruco_left_base">
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<material>Gazebo/Black</material>
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</gazebo>
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<gazebo reference="link_aruco_shoulder">
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<material>Gazebo/Black</material>
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</gazebo>
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<gazebo reference="link_aruco_top_wrist">
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<material>Gazebo/Black</material>
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</gazebo>
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<gazebo reference="link_aruco_inner_wrist">
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<material>Gazebo/Black</material>
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</gazebo>
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<!-- Respeaker -->
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<gazebo reference="respeaker_base">
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<material>Gazebo/Green</material>
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</gazebo>
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<!-- Non GPU LIDAR -->
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<xacro:unless value="$(arg gpu_lidar)">
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<gazebo reference="laser">
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<material>Gazebo/Black</material>
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<sensor type="ray" name="laser_sensor">
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<pose>0 0 0 0 0 0</pose>
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<visualize>$(arg visualize_lidar)</visualize>
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<update_rate>5.5</update_rate>
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<ray>
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<scan>
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<horizontal>
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<samples>2000</samples>
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<resolution>1</resolution>
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<min_angle>-0.9</min_angle>
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<max_angle>5.0</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.15</min>
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<max>12.0</max>
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<resolution>0.01</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.001</stddev>
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</noise>
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</ray>
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<plugin name="gazebo_ros_lidar_controller" filename="libgazebo_ros_laser.so">
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<topicName>scan</topicName>
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<frameName>laser</frameName>
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</plugin>
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</sensor>
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</gazebo>
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</xacro:unless>
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<!-- GPU LIDAR -->
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<xacro:if value="$(arg gpu_lidar)">
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<gazebo reference="laser">
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<material>Gazebo/Black</material>
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<sensor type="gpu_ray" name="laser_sensor">
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<pose>0 0 0 0 0 0</pose>
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<visualize>$(arg visualize_lidar)</visualize>
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<update_rate>5.5</update_rate>
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<ray>
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<scan>
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<horizontal>
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<samples>2000</samples>
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<resolution>1</resolution>
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<min_angle>-0.9</min_angle>
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<max_angle>5.0</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.15</min>
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<max>12.0</max>
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<resolution>0.01</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.001</stddev>
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</noise>
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</ray>
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<plugin name="gazebo_ros_lidar_controller" filename="libgazebo_ros_gpu_laser.so">
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<topicName>scan</topicName>
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<frameName>laser</frameName>
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</plugin>
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</sensor>
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</gazebo>
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</xacro:if>
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<!-- Base IMU -->
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<gazebo reference="base_link">
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<gravity>true</gravity>
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<sensor name="base_imu" type="imu">
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<always_on>true</always_on>
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<visualize>false</visualize>
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<plugin name="imu_plugin" filename="libgazebo_ros_imu_sensor.so">
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<topicName>imu/data</topicName>
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<bodyName>base_link</bodyName>
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<updateRateHZ>25.0</updateRateHZ>
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<gaussianNoise>0.001</gaussianNoise>
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<xyzOffset>0 0 0</xyzOffset>
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<rpyOffset>0 0 0</rpyOffset>
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<frameName>base_link</frameName>
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<initialOrientationAsReference>false</initialOrientationAsReference>
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</plugin>
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<pose>0 0 0 0 0 0</pose>
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</sensor>
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</gazebo>
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<!-- Wrist IMU -->
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<gazebo reference="link_wrist_yaw">
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<gravity>true</gravity>
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<sensor name="wrist_imu" type="imu">
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<always_on>true</always_on>
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<visualize>false</visualize>
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<plugin name="imu_plugin" filename="libgazebo_ros_imu_sensor.so">
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<topicName>wrist_imu/data</topicName>
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<bodyName>link_wrist_yaw</bodyName>
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<updateRateHZ>25.0</updateRateHZ>
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<gaussianNoise>0.001</gaussianNoise>
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<xyzOffset>0 0 0</xyzOffset>
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<rpyOffset>0 0 0</rpyOffset>
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<frameName>link_wrist_yaw</frameName>
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<initialOrientationAsReference>false</initialOrientationAsReference>
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</plugin>
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<pose>0 0 0 0 0 0</pose>
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</sensor>
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</gazebo>
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<!-- Lift -->
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<gazebo reference="link_lift">
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<mu1 value="10000.0"/>
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<mu2 value="10000.0"/>
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<kp value="10000000.0" />
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<kd value="100.0" />
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<material>Gazebo/Black</material>
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<minDepth>0.001</minDepth>
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</gazebo>
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<gazebo reference="link_mast">
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<material>Gazebo/Gray</material>
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</gazebo>
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<transmission name="trans_lift">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="motor_lift">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="joint_lift">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<!-- Arm -->
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<gazebo reference="link_arm_l0">
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<mu1 value="100.0"/>
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<mu2 value="200.0"/>
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<kp value="10000000.0" />
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<kd value="100.0" />
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<material>Gazebo/Gray</material>
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<minDepth>0.001</minDepth>
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</gazebo>
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<gazebo reference="link_arm_l1">
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<mu1 value="100.0"/>
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<mu2 value="200.0"/>
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<kp value="10000000.0" />
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<kd value="100.0" />
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<material>Gazebo/Gray</material>
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<minDepth>0.001</minDepth>
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</gazebo>
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<gazebo reference="link_arm_l2">
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<mu1 value="100.0"/>
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<mu2 value="200.0"/>
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<kp value="10000000.0" />
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<kd value="100.0" />
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<material>Gazebo/Gray</material>
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<minDepth>0.001</minDepth>
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</gazebo>
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<gazebo reference="link_arm_l3">
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<mu1 value="100.0"/>
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<mu2 value="200.0"/>
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<kp value="10000000.0" />
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<kd value="100.0" />
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<material>Gazebo/Gray</material>
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<minDepth>0.001</minDepth>
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</gazebo>
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<gazebo reference="link_arm_l4">
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<mu1 value="100.0"/>
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<mu2 value="200.0"/>
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<kp value="10000000.0" />
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<kd value="100.0" />
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<material>Gazebo/Gray</material>
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<minDepth>0.001</minDepth>
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</gazebo>
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<transmission name="trans_arm_l0">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="motor_arm_l0" >
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="joint_arm_l0">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<transmission name="trans_arm_l1">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="motor_arm_l1" >
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="joint_arm_l1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<transmission name="trans_arm_l2">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="motor_arm_l2" >
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="joint_arm_l2">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<transmission name="trans_arm_l3">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="motor_arm_l3" >
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="joint_arm_l3">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<!-- Wrist -->
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|
<gazebo reference="link_wrist_yaw">
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|
<mu1 value="100.0"/>
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|
<mu2 value="200.0"/>
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|
<kp value="10000000.0" />
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|
<kd value="100.0" />
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<material>Gazebo/Black</material>
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|
<minDepth>0.001</minDepth>
|
|
</gazebo>
|
|
|
|
<transmission name="trans_wrist_yaw">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<actuator name="motor_wrist_yaw" >
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
<joint name="joint_wrist_yaw">
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
</transmission>
|
|
|
|
<!-- Head -->
|
|
<gazebo reference="link_head">
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="200.0"/>
|
|
<material>Gazebo/Gray</material>
|
|
</gazebo>
|
|
|
|
<gazebo reference="link_head_tilt">
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="200.0"/>
|
|
<kp value="10000000.0" />
|
|
<kd value="100.0" />
|
|
<material>Gazebo/Gray</material>
|
|
<minDepth>0.001</minDepth>
|
|
</gazebo>
|
|
|
|
<gazebo reference="link_head_pan">
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="200.0"/>
|
|
<kp value="10000000.0" />
|
|
<kd value="100.0" />
|
|
<material>Gazebo/Gray</material>
|
|
<minDepth>0.001</minDepth>
|
|
</gazebo>
|
|
|
|
<transmission name="trans_head_pan">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<actuator name="motor_head_pan">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
<joint name="joint_head_pan">
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
</transmission>
|
|
|
|
<transmission name="trans_head_tilt">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<actuator name="motor_head_tilt">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
<joint name="joint_head_tilt">
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
</transmission>
|
|
|
|
<!-- Gripper -->
|
|
<gazebo reference="link_gripper_finger_left">
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="200.0"/>
|
|
<kp value="10000000.0" />
|
|
<kd value="100.0" />
|
|
<material>Gazebo/Gray</material>
|
|
<minDepth>0.001</minDepth>
|
|
</gazebo>
|
|
|
|
<gazebo reference="link_gripper_finger_right">
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="200.0"/>
|
|
<kp value="10000000.0" />
|
|
<kd value="100.0" />
|
|
<material>Gazebo/Gray</material>
|
|
<minDepth>0.001</minDepth>
|
|
</gazebo>
|
|
|
|
<gazebo reference="link_grasp_center">
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="200.0"/>
|
|
<kp value="10000000.0" />
|
|
<kd value="100.0" />
|
|
<material>Gazebo/Gray</material>
|
|
<minDepth>0.001</minDepth>
|
|
</gazebo>
|
|
|
|
<gazebo reference="link_gripper_fingertip_left">
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="200.0"/>
|
|
<kp value="10000000.0" />
|
|
<kd value="100.0" />
|
|
<material>Gazebo/Black</material>
|
|
<minDepth>0.001</minDepth>
|
|
</gazebo>
|
|
|
|
<gazebo reference="link_gripper_fingertip_right">
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="200.0"/>
|
|
<kp value="10000000.0" />
|
|
<kd value="100.0" />
|
|
<material>Gazebo/Black</material>
|
|
<minDepth>0.001</minDepth>
|
|
</gazebo>
|
|
|
|
<gazebo reference="link_gripper">
|
|
<mu1 value="100.0"/>
|
|
<mu2 value="200.0"/>
|
|
<kp value="10000000.0" />
|
|
<kd value="100.0" />
|
|
<material>Gazebo/Gray</material>
|
|
<minDepth>0.001</minDepth>
|
|
</gazebo>
|
|
|
|
<transmission name="trans_gripper_finger_left">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<actuator name="motor_gripper_finger_left">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
<joint name="joint_gripper_finger_left">
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
</transmission>
|
|
<transmission name="trans_gripper_finger_right">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<actuator name="motor_gripper_finger_right">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
<joint name="joint_gripper_finger_right">
|
|
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
</transmission>
|
|
|
|
</robot>
|