From 7c869c7207c750fd75ffdc265350e9c09e309675 Mon Sep 17 00:00:00 2001 From: chfriedrich98 Date: Mon, 25 Nov 2024 09:19:06 +0100 Subject: [PATCH 1/3] rover world: increase friction to reduce sliding of ground vehicles --- worlds/rover.sdf | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/worlds/rover.sdf b/worlds/rover.sdf index 919fb1f..b69142a 100644 --- a/worlds/rover.sdf +++ b/worlds/rover.sdf @@ -176,8 +176,8 @@ - 1 - 1 + 2 + 2 From 07b16b1614cb75152be9273bb97c23bbe814a829 Mon Sep 17 00:00:00 2001 From: chfriedrich98 Date: Mon, 2 Dec 2024 11:19:28 +0100 Subject: [PATCH 2/3] rover: clean up r1_rover sdf and remove motor/rotation limits from ackermann_rover --- models/r1_rover/model.sdf | 120 ++++++++++++++----------------- models/rover_ackermann/model.sdf | 20 ------ 2 files changed, 53 insertions(+), 87 deletions(-) diff --git a/models/r1_rover/model.sdf b/models/r1_rover/model.sdf index 3038038..05fff02 100644 --- a/models/r1_rover/model.sdf +++ b/models/r1_rover/model.sdf @@ -1,9 +1,9 @@ - - 0 0 0 0 -0 0 + + 0 0 0 0 0 0 - 0 0 0 0 -0 0 + 0 0 0 0 0 0 20.0 0.37083 @@ -14,24 +14,16 @@ 0.53333 - - 0 0 0.15 0 -0 0 + + 0 0 0.15 0 0 0 - 0.4 0.4 0.25 + 0.4 0.4 0.25 - - - - - - - - - - 0 0 0 0 -0 0 + + 0 0 0 0 0 0 1 1 1 @@ -43,8 +35,8 @@ 1.0 1.0 1.0 - - 0 0 0.114486 0 -0 0 + + 0 0 0.114486 0 0 0 1 1 1 @@ -56,8 +48,8 @@ 1.0 1.0 1.0 - - -0.09302 -0.000128 0.114486 0 -0 0 + + -0.09302 -0.000128 0.114486 0 0 0 1 1 1 @@ -69,8 +61,8 @@ 0.5 0.5 0.5 - - 0.03473 0 0.114486 0 -0 0 + + 0.03473 0 0.114486 0 0 0 1 1 1 @@ -82,8 +74,8 @@ 0.5 0.5 0.5 - - -0.1565 0.0762 0.114486 0 -0 0 + + -0.1565 0.0762 0.114486 0 0 0 1 1 1 @@ -95,8 +87,8 @@ 0.5 0.5 0.5 - - -0.1565 -0.0762 0.114486 0 -0 0 + + -0.1565 -0.0762 0.114486 0 0 0 1 1 1 @@ -108,13 +100,7 @@ 0.5 0.5 0.5 - - - - - 1 - 1 250 @@ -191,7 +177,7 @@ - 0.15 0.16317 0.0215 0 -0 0 + 0.15 0.16317 0.0215 0 0 0 0 0 0 1.57079632679 0 0 0.414 @@ -221,8 +207,8 @@ 0.0686 - 1.0 - 1.0 + 2.0 + 2.0 1 0 0 0.0 0.0 @@ -243,7 +229,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 0 0 1 1 1 @@ -275,7 +261,7 @@ - -0.15 0.16317 0.0215 0 -0 0 + -0.15 0.16317 0.0215 0 0 0 0 0 0 1.57079632679 0 0 0.414 @@ -305,8 +291,8 @@ 0.0686 - 1.0 - 1.0 + 2.0 + 2.0 1 0 0 0.0 0.0 @@ -327,7 +313,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 0 0 1 1 1 @@ -359,7 +345,7 @@ - 0.15 -0.16317 0.0215 0 -0 0 + 0.15 -0.16317 0.0215 0 0 0 0 0 0 1.57079632679 0 0 0.414 @@ -383,35 +369,35 @@ 1 - - 0.25 - 1 - 0.0686 - - - 1.0 - 1.0 - 1 0 0 - 0.0 - 0.0 - + + 0.25 + 1 + 0.0686 + + + 2.0 + 2.0 + 1 0 0 + 0.0 + 0.0 + - 0 - 1e6 + 0 + 1e6 - - 0.001 - 0.0 - 1.0e6 - 100.0 - + + 0.001 + 0.0 + 1.0e6 + 100.0 + - 0 0 0 0 -0 0 + 0 0 0 0 0 0 1 1 1 @@ -443,7 +429,7 @@ - -0.15 -0.16317 0.0215 0 -0 0 + -0.15 -0.16317 0.0215 0 0 0 0 0 0 1.57079632679 0 0 0.414 @@ -473,8 +459,8 @@ 0.0686 - 1.0 - 1.0 + 2.0 + 2.0 1 0 0 0.0 0.0 @@ -493,7 +479,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 0 0 1 1 1 @@ -561,5 +547,5 @@ motor_2 motor_3 - + diff --git a/models/rover_ackermann/model.sdf b/models/rover_ackermann/model.sdf index bb81892..900c1fe 100644 --- a/models/rover_ackermann/model.sdf +++ b/models/rover_ackermann/model.sdf @@ -333,11 +333,6 @@ 0 0 0 0 0 0 0 1 0 - - -1.79769e+308 - 1.79769e+308 - 50.0 - 0 0 @@ -351,11 +346,6 @@ 0 0 0 0 0 0 0 1 0 - - -1.79769e+308 - 1.79769e+308 - 50.0 - 0 0 @@ -369,11 +359,6 @@ -0.192 -.1 0 0 0 0 0 1 0 - - -1.79769e+308 - 1.79769e+308 - 50.0 - 0 0 @@ -387,11 +372,6 @@ -0.192 .1 0 0 0 0 0 1 0 - - -1.79769e+308 - 1.79769e+308 - 50.0 - 0 0 From abc1aa46d40cbb59a0be9f72fba0567723339859 Mon Sep 17 00:00:00 2001 From: chfriedrich98 Date: Mon, 2 Dec 2024 11:20:39 +0100 Subject: [PATCH 3/3] add r1_rover_mecanum model --- .../r1_rover_mecanum/meshes/antenna_link.STL | Bin 0 -> 25584 bytes .../r1_rover_mecanum/meshes/battery_link.STL | Bin 0 -> 49984 bytes .../r1_rover_mecanum/meshes/chassis_link.STL | Bin 0 -> 3084 bytes .../r1_rover_mecanum/meshes/housing_link.STL | Bin 0 -> 128784 bytes models/r1_rover_mecanum/meshes/top_link.STL | Bin 0 -> 110684 bytes models/r1_rover_mecanum/meshes/wheel_link.STL | Bin 0 -> 554484 bytes .../meshes/wheel_link_simple.STL | Bin 0 -> 182084 bytes models/r1_rover_mecanum/model.config | 15 + models/r1_rover_mecanum/model.sdf | 492 ++++++++++++++++++ 9 files changed, 507 insertions(+) create mode 100644 models/r1_rover_mecanum/meshes/antenna_link.STL create mode 100644 models/r1_rover_mecanum/meshes/battery_link.STL create mode 100644 models/r1_rover_mecanum/meshes/chassis_link.STL create mode 100644 models/r1_rover_mecanum/meshes/housing_link.STL create mode 100644 models/r1_rover_mecanum/meshes/top_link.STL create mode 100644 models/r1_rover_mecanum/meshes/wheel_link.STL create mode 100644 models/r1_rover_mecanum/meshes/wheel_link_simple.STL create mode 100644 models/r1_rover_mecanum/model.config create mode 100644 models/r1_rover_mecanum/model.sdf diff --git a/models/r1_rover_mecanum/meshes/antenna_link.STL b/models/r1_rover_mecanum/meshes/antenna_link.STL new file mode 100644 index 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hQR8?07*XqLrwyD~swUqyoUh-3SnD7wqG`Le{{f>92`vBs literal 0 HcmV?d00001 diff --git a/models/r1_rover_mecanum/model.config b/models/r1_rover_mecanum/model.config new file mode 100644 index 0000000..79d0b6f --- /dev/null +++ b/models/r1_rover_mecanum/model.config @@ -0,0 +1,15 @@ + + + r1_rover + 1.0 + r1_rover.sdf + https://github.com/aionrobotics/aion_io/blob/master/LICENSE.txt + + + Nicholas Nunno + + + + This is a model for the Aion robotics R1 ugv rover. The sdf file is adpated from [aion_io](https://github.com/aionrobotics/aion_io) + + diff --git a/models/r1_rover_mecanum/model.sdf b/models/r1_rover_mecanum/model.sdf new file mode 100644 index 0000000..8a4f8a0 --- /dev/null +++ b/models/r1_rover_mecanum/model.sdf @@ -0,0 +1,492 @@ + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 20.0 + + 0.37083 + 0.0 + 0.0 + 0.37083 + 0.0 + 0.53333 + + + + 0 0 0.15 0 0 0 + + + 0.4 0.4 0.25 + + + + + 0 0 0 0 0 0 + + + 1 1 1 + model://r1_rover/meshes/chassis_link.STL + + + + 1.0 1.0 1.0 + 1.0 1.0 1.0 + + + + 0 0 0.114486 0 0 0 + + + 1 1 1 + model://r1_rover/meshes/top_link.STL + + + + 1.0 1.0 1.0 + 1.0 1.0 1.0 + + + + -0.09302 -0.000128 0.114486 0 0 0 + + + 1 1 1 + model://r1_rover/meshes/battery_link.STL + + + + 0.0 0.0 0.0 + 0.5 0.5 0.5 + + + + 0.03473 0 0.114486 0 0 0 + + + 1 1 1 + model://r1_rover/meshes/housing_link.STL + + + + 0.0 0.0 0.0 + 0.5 0.5 0.5 + + + + -0.1565 0.0762 0.114486 0 0 0 + + + 1 1 1 + model://r1_rover/meshes/antenna_link.STL + + + + 0.0 0.0 0.0 + 0.5 0.5 0.5 + + + + -0.1565 -0.0762 0.114486 0 0 0 + + + 1 1 1 + model://r1_rover/meshes/antenna_link.STL + + + + 0.0 0.0 0.0 + 0.5 0.5 0.5 + + + 1 + + + 1 + 250 + + + + + 0 + 0.0003394 + 3.8785e-05 + 1000 + + + + + 0 + 0.0003394 + 3.8785e-05 + 1000 + + + + + 0 + 0.0003394 + 3.8785e-05 + 1000 + + + + + + + 0 + 0.004 + 0.006 + 300 + + + + + 0 + 0.004 + 0.006 + 300 + + + + + 0 + 0.004 + 0.006 + 300 + + + + + + + 1 + 50 + + + + 0 + 0.01 + + + + + + 1 + 30 + + + + 0.15 0.16317 0.0215 0 0 0 + + 0 0 0 1.57079632679 0 0 + 0.414 + + 0.00068682 + 0 + 0 + 0.00068682 + 0 + 0.00097299 + + + + 0 0 0 1.57079632679 0 0 + + + 0.0686 + 0.0762 + + + + + + 3.0 + 0.0 + 1 -1 0 + 0.0 + 0.0 + + + + + + 0 0 0 0 0 0 + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL + + 0.001372 0.001372 0.001372 + + + + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + + + 1 + + + + lf_wheel_link + base_link + + 0 1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 1 + + + + -0.15 0.16317 0.0215 0 0 0 + + 0 0 0 1.57079632679 0 0 + 0.414 + + 0.00068682 + 0 + 0 + 0.00068682 + 0 + 0.00097299 + + + + 0 0 0 1.57079632679 0 0 + + + 0.0686 + 0.0762 + + + + + + 3.0 + 0.0 + 1 1 0 + 0.0 + 0.0 + + + + + + 0 0 0 0 0 0 + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL + + 0.001372 0.001372 0.001372 + + + + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + + + 1 + + + + lb_wheel_link + base_link + + 0 1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 1 + + + + 0.15 -0.16317 0.0215 0 0 0 + + 0 0 0 1.57079632679 0 0 + 0.414 + + 0.00068682 + 0 + 0 + 0.00068682 + 0 + 0.00097299 + + + + 0 0 0 1.57079632679 0 0 + + + 0.0686 + 0.0762 + + + + + + 3.0 + 0.0 + 1 1 0 + 0.0 + 0.0 + + + + + + 0 0 0 0 0 0 + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL + + 0.001372 0.001372 0.001372 + + + + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + + + 1 + + + + rf_wheel_link + base_link + + 0 -1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 1 + + + + -0.15 -0.16317 0.0215 0 0 0 + + 0 0 0 1.57079632679 0 0 + 0.414 + + 0.00068682 + 0 + 0 + 0.00068682 + 0 + 0.00097299 + + + + 0 0 0 1.57079632679 0 0 + + + 0.0686 + 0.0762 + + + + + + 3.0 + 0.0 + 1 -1 0 + 0.0 + 0.0 + + + + + + 0 0 0 0 0 0 + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL + + 0.001372 0.001372 0.001372 + + + + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + + + 1 + + + + rb_wheel_link + base_link + + 0 -1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 1 + + + 0 + + + motor_0 + command/motor_speed + true + 0 + 10.0 + + + + motor_1 + command/motor_speed + true + 1 + 10.0 + + + + motor_2 + command/motor_speed + true + 2 + 10.0 + + + + motor_3 + command/motor_speed + true + 3 + 10.0 + + + motor_0 + motor_1 + motor_2 + motor_3 + + +