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Rover simulation update #67

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Rover simulation update #67

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7c869c7
rover world: increase friction to reduce sliding of ground vehicles
chfriedrich98 Nov 25, 2024
07b16b1
rover: clean up r1_rover sdf and remove motor/rotation limits from ac…
chfriedrich98 Dec 2, 2024
abc1aa4
add r1_rover_mecanum model
chfriedrich98 Dec 2, 2024
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120 changes: 53 additions & 67 deletions models/r1_rover/model.sdf
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
<sdf version='1.6'>
<model name='r1_rover'>
<link name='base_link'>
<pose>0 0 0 0 -0 0</pose>
<link name='base_link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>20.0</mass>
<inertia>
<ixx>0.37083</ixx>
Expand All @@ -14,24 +14,16 @@
<izz>0.53333</izz>
</inertia>
</inertial>
<collision name='odom_fixed_joint_lump__base_link_collision'>
<pose>0 0 0.15 0 -0 0</pose>
<collision name='base_link_collision'>
<pose>0 0 0.15 0 0 0</pose>
<geometry>
<box>
<size>0.4 0.4 0.25</size>
<size>0.4 0.4 0.25</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='odom_fixed_joint_lump__base_link_visual'>
<pose>0 0 0 0 -0 0</pose>
<visual name='base_link_visual_chassi'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand All @@ -43,8 +35,8 @@
<specular>1.0 1.0 1.0</specular>
</material>
</visual>
<visual name='odom_fixed_joint_lump__top_link_visual_1'>
<pose>0 0 0.114486 0 -0 0</pose>
<visual name='base_link_visual_top_link'>
<pose>0 0 0.114486 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand All @@ -56,8 +48,8 @@
<specular>1.0 1.0 1.0</specular>
</material>
</visual>
<visual name='odom_fixed_joint_lump__battery_link_visual_2'>
<pose>-0.09302 -0.000128 0.114486 0 -0 0</pose>
<visual name='base_link_visual_battery_link'>
<pose>-0.09302 -0.000128 0.114486 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand All @@ -69,8 +61,8 @@
<specular>0.5 0.5 0.5</specular>
</material>
</visual>
<visual name='odom_fixed_joint_lump__housing_link_visual_3'>
<pose>0.03473 0 0.114486 0 -0 0</pose>
<visual name='base_link_visual_housing_link'>
<pose>0.03473 0 0.114486 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand All @@ -82,8 +74,8 @@
<specular>0.5 0.5 0.5</specular>
</material>
</visual>
<visual name='odom_fixed_joint_lump__l_antenna_link_visual_4'>
<pose>-0.1565 0.0762 0.114486 0 -0 0</pose>
<visual name='base_link_visual_antenna_link'>
<pose>-0.1565 0.0762 0.114486 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand All @@ -95,8 +87,8 @@
<specular>0.5 0.5 0.5</specular>
</material>
</visual>
<visual name='odom_fixed_joint_lump__r_antenna_link_visual_5'>
<pose>-0.1565 -0.0762 0.114486 0 -0 0</pose>
<visual name='base_link_visual_antenna_link_2'>
<pose>-0.1565 -0.0762 0.114486 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand All @@ -108,13 +100,7 @@
<specular>0.5 0.5 0.5</specular>
</material>
</visual>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>250</update_rate>
Expand Down Expand Up @@ -191,7 +177,7 @@
</sensor>
</link>
<link name='lf_wheel_link'>
<pose>0.15 0.16317 0.0215 0 -0 0</pose>
<pose>0.15 0.16317 0.0215 0 0 0</pose>
<inertial>
<pose>0 0 0 1.57079632679 0 0</pose>
<mass>0.414</mass>
Expand Down Expand Up @@ -221,8 +207,8 @@
<surface_radius>0.0686</surface_radius>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
<mu>2.0</mu>
<mu2>2.0</mu2>
<fdir1>1 0 0</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
Expand All @@ -243,7 +229,7 @@
</surface>
</collision>
<visual name='lf_wheel_link_visual'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand Down Expand Up @@ -275,7 +261,7 @@
</axis>
</joint>
<link name='lb_wheel_link'>
<pose>-0.15 0.16317 0.0215 0 -0 0</pose>
<pose>-0.15 0.16317 0.0215 0 0 0</pose>
<inertial>
<pose>0 0 0 1.57079632679 0 0</pose>
<mass>0.414</mass>
Expand Down Expand Up @@ -305,8 +291,8 @@
<surface_radius>0.0686</surface_radius>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
<mu>2.0</mu>
<mu2>2.0</mu2>
<fdir1>1 0 0</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
Expand All @@ -327,7 +313,7 @@
</surface>
</collision>
<visual name='lb_wheel_link_visual'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand Down Expand Up @@ -359,7 +345,7 @@
</axis>
</joint>
<link name='rf_wheel_link'>
<pose>0.15 -0.16317 0.0215 0 -0 0</pose>
<pose>0.15 -0.16317 0.0215 0 0 0</pose>
<inertial>
<pose>0 0 0 1.57079632679 0 0</pose>
<mass>0.414</mass>
Expand All @@ -383,35 +369,35 @@
<max_contacts>1</max_contacts>
<surface>
<friction>
<torsional>
<coefficient>0.25</coefficient>
<use_patch_radius>1</use_patch_radius>
<surface_radius>0.0686</surface_radius>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
<fdir1>1 0 0</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
<torsional>
<coefficient>0.25</coefficient>
<use_patch_radius>1</use_patch_radius>
<surface_radius>0.0686</surface_radius>
</torsional>
<ode>
<mu>2.0</mu>
<mu2>2.0</mu2>
<fdir1>1 0 0</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e6</threshold>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e6</threshold>
</bounce>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0.0</max_vel>
<kp>1.0e6</kp>
<kd>100.0</kd>
</ode>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0.0</max_vel>
<kp>1.0e6</kp>
<kd>100.0</kd>
</ode>
</contact>
</surface>
</collision>
<visual name='rf_wheel_link_visual'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand Down Expand Up @@ -443,7 +429,7 @@
</axis>
</joint>
<link name='rb_wheel_link'>
<pose>-0.15 -0.16317 0.0215 0 -0 0</pose>
<pose>-0.15 -0.16317 0.0215 0 0 0</pose>
<inertial>
<pose>0 0 0 1.57079632679 0 0</pose>
<mass>0.414</mass>
Expand Down Expand Up @@ -473,8 +459,8 @@
<surface_radius>0.0686</surface_radius>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
<mu>2.0</mu>
<mu2>2.0</mu2>
<fdir1>1 0 0</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
Expand All @@ -493,7 +479,7 @@
</surface>
</collision>
<visual name='rb_wheel_link_visual'>
<pose>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand Down Expand Up @@ -561,5 +547,5 @@
<joint_name>motor_2</joint_name>
<joint_name>motor_3</joint_name>
</plugin>
</model>
</model>
</sdf>
Binary file added models/r1_rover_mecanum/meshes/antenna_link.STL
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Binary file added models/r1_rover_mecanum/meshes/battery_link.STL
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Binary file added models/r1_rover_mecanum/meshes/chassis_link.STL
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Binary file added models/r1_rover_mecanum/meshes/housing_link.STL
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Binary file added models/r1_rover_mecanum/meshes/top_link.STL
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Binary file added models/r1_rover_mecanum/meshes/wheel_link.STL
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Binary file added models/r1_rover_mecanum/meshes/wheel_link_simple.STL
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15 changes: 15 additions & 0 deletions models/r1_rover_mecanum/model.config
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@@ -0,0 +1,15 @@
<?xml version="1.0"?>
<model>
<name>r1_rover</name>
<version>1.0</version>
<sdf version='1.5'>r1_rover.sdf</sdf>
<license>https://github.com/aionrobotics/aion_io/blob/master/LICENSE.txt</license>
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This path doesn't seem to be valid. Can you recheck if this license is still applicable?

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Seems like the aion robotics repo is now private.
Maybe @PerFrivik knows more about the license ?


<author>
<name>Nicholas Nunno</name>
</author>

<description>
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)
</description>
</model>
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