无人小车模型
效果显示¶
urdf模型¶
<?xml version="1.0"?>
<robot name="car" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="wheel_base" value="0.162"/>
<xacro:property name="ground_clearance" value="0.019"/>
<xacro:property name="front_offset" value="0.074"/>
<xacro:property name="back_offset" value="0.069"/>
<xacro:property name="pkg" value="zxcar_description" />
<xacro:macro name="HMCarBody" params="name">
<link name="${name}">
<visual>
<geometry>
<mesh filename="package://${pkg}/meshes/ackerman_body.dae"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</visual>
</link>~~~~
</xacro:macro>
<xacro:macro name="HMCarWheel" params="name left='true' xyz='0 0 0' rpy='0 0 0'">
<link name="${name}">
<visual>
<geometry>
<xacro:if value="${left}">
<mesh filename="package://${pkg}/meshes/wheel_left.dae"/>
</xacro:if>
<xacro:unless value="${left}">
<mesh filename="package://${pkg}/meshes/wheel_right.dae"/>
</xacro:unless>
</geometry>
<origin xyz="${xyz}" rpy="${rpy}"/>
</visual>
</link>
</xacro:macro>
<xacro:macro name="HMWheelJoint" params="name parent child type='continuous' xyz='0 0 0' rpy='0 0 0' axis='0 1 0'">
<joint name="${name}" type="${type}">
<parent link="${parent}"/>
<child link="${child}"/>
<origin xyz="${xyz}" rpy="${rpy}"/>
<axis xyz="${axis}"/>
</joint>
</xacro:macro>
<xacro:HMCarBody name="base_link"/>
<xacro:HMCarWheel name="front_left"/>
<xacro:HMWheelJoint
name="joint_front_left"
parent="base_link"
child="front_left"
xyz="${front_offset} ${wheel_base/2} 0.019"/>
<xacro:HMCarWheel name="front_right" left="false"/>
<xacro:HMWheelJoint
name="joint_front_right"
parent="base_link"
child="front_right"
xyz="${front_offset} -${wheel_base/2} ${ground_clearance}"/>
<xacro:HMCarWheel name="back_left"/>
<xacro:HMWheelJoint
name="joint_back_left"
parent="base_link"
child="back_left"
xyz="-${back_offset} ${wheel_base/2} ${ground_clearance}"/>
<xacro:HMCarWheel name="back_right" left="false"/>
<xacro:HMWheelJoint
name="joint_back_right"
parent="base_link"
child="back_right"
xyz="-${back_offset} -${wheel_base/2} ${ground_clearance}"/>
</robot>