gz_ros2_control/gz_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf at 12d2d8eb075530cd56eccad0147599bf0c0098d8 · ros-controls/gz_ros2_control · GitHub

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<?xml version="1.0"?>
<robot name="tricycle_drive" xmlns:xacro="http://ros.org/wiki/xacro">
  <material name="Black">
    <color rgba="0 0 0 1" />
  </material>
  <material name="Grey">
    <color rgba="0.8 0.8 0.8 1" />
  </material>
  <material name="Orange">
    <color rgba="1 0.6 0 1" />
  </material>
  <material name="White">
    <color rgba="1 1 1 1" />
  </material>

  <link name="base_link" />

  <!-- Chassis -->
  <link name="chassis">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="2 1 0.5" />
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="2 1 0.5" />
      </geometry>
      <material name="Orange" />
    </visual>

    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.126164" ixy="0.0" ixz="0.0" iyy="0.416519" iyz="0.0" izz="0.481014" />
    </inertial>
  </link>

  <joint name="chassis_joint" type="fixed">
    <origin xyz="0.8 0 0.5" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="chassis" />
  </joint>

  <!-- left wheel Link -->
  <link name="left_wheel">
    <collision>
      <geometry>
        <cylinder length="0.08" radius="0.3" />
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.08" radius="0.3" />
      </geometry>
      <material name="Black" />
    </visual>

    <inertial>
      <mass value="2" />
      <inertia ixx="0.145833" ixy="0.0" ixz="0.0" iyy="0.145833" iyz="0.0" izz="0.125" />
    </inertial>
  </link>

  <joint name="left_wheel_joint" type="continuous">
    <origin xyz="-0.8 0.5 -0.2" rpy="-1.57 0 0" />
    <parent link="chassis" />
    <child link="left_wheel" />
    <axis xyz="0 0 1" />
    <dynamics damping="0.2" />
  </joint>

  <!-- right wheel Link -->
  <link name="right_wheel">
    <collision>
      <geometry>
        <cylinder length="0.08" radius="0.3" />
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.08" radius="0.3" />
      </geometry>
      <material name="Black" />
    </visual>

    <inertial>
      <mass value="2" />
      <inertia ixx="0.145833" ixy="0.0" ixz="0.0" iyy="0.145833" iyz="0.0" izz="0.125" />
    </inertial>
  </link>

  <joint name="right_wheel_joint" type="continuous">
    <origin xyz="-0.8 -0.5 -0.2" rpy="-1.57 0 0" />
    <parent link="chassis" />
    <child link="right_wheel" />
    <axis xyz="0 0 1" />
    <dynamics damping="0.2" />
  </joint>

  <!-- Steering Link -->
  <link name="steering_link">
    <visual>
      <geometry>
        <box size="0.01 0.01 0.01" />
      </geometry>
      <material name="Black" />
    </visual>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="0.005" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>

  <joint name="steering_joint" type="continuous">
    <origin xyz="0.9 0 -0.2" rpy="0 0 0" />
    <parent link="chassis" />
    <child link="steering_link" />
    <axis xyz="0 0 1" />
    <limit effort="100" velocity="1" lower="-1.57" upper="1.57" />
  </joint>

  <!-- traction wheel link -->
  <link name="wheel_front_link">
    <visual>
      <geometry>
        <cylinder length="0.08" radius="0.3" />
      </geometry>
      <material name="Black" />
    </visual>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="15" />
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
    </inertial>
    <collision>
      <geometry>
        <cylinder length="0.08" radius="0.3" />
      </geometry>
    </collision>
  </link>

  <joint name="traction_joint" type="continuous">
    <parent link="steering_link" />
    <child link="wheel_front_link" />
    <origin xyz="0 0 0" rpy="-1.57 1.57 0" />
    <axis xyz="0 0 1" />
    <limit effort="100" velocity="1"/>
  </joint>

  <ros2_control name="GazeboSystem" type="system">
    <hardware>
      <plugin>gz_ros2_control/GazeboSimSystem</plugin>
    </hardware>
    <joint name="steering_joint">
      <command_interface name="position" />
      <state_interface name="position" />
    </joint>
    <joint name="traction_joint">
      <command_interface name="velocity" />
      <state_interface name="velocity" />
      <state_interface name="position" />
    </joint>
  </ros2_control>


  <gazebo>
    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
      <parameters>$(find gz_ros2_control_demos)/config/tricycle_drive_controller.yaml</parameters>
    </plugin>
  </gazebo>

</robot>