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[Personalrobots-commit] SF.net SVN: personalrobots:[14634] pkg/trunk
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From: <hsu...@us...> - 2009-04-29 20:49:56
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Revision: 14634
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=14634&view=rev
Author: hsujohnhsu
Date: 2009-04-29 20:49:45 +0000 (Wed, 29 Apr 2009)
Log Message:
-----------
update erratic robot with better masses.
use a world with higher accuracy.
release caster steering link.
Modified Paths:
--------------
pkg/trunk/demos/erratic_gazebo/erratic.launch
pkg/trunk/robot_descriptions/erratic/erratic_defs/robots/erratic.xml
Added Paths:
-----------
pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_erratic.world
Modified: pkg/trunk/demos/erratic_gazebo/erratic.launch
===================================================================
--- pkg/trunk/demos/erratic_gazebo/erratic.launch 2009-04-29 20:15:41 UTC (rev 14633)
+++ pkg/trunk/demos/erratic_gazebo/erratic.launch 2009-04-29 20:49:45 UTC (rev 14634)
@@ -5,7 +5,7 @@
<param name="robotdesc/erratic" command="$(find xacro)/xacro.py '$(find erratic_defs)/robots/erratic.xml'" />
<!-- start gazebo -->
- <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/simple.world" respawn="false" output="screen">
+ <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/simple_erratic.world" respawn="false" output="screen">
<env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(optenv LD_LIBRARY_PATH)" />
<env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
<env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
Modified: pkg/trunk/robot_descriptions/erratic/erratic_defs/robots/erratic.xml
===================================================================
--- pkg/trunk/robot_descriptions/erratic/erratic_defs/robots/erratic.xml 2009-04-29 20:15:41 UTC (rev 14633)
+++ pkg/trunk/robot_descriptions/erratic/erratic_defs/robots/erratic.xml 2009-04-29 20:49:45 UTC (rev 14634)
@@ -20,10 +20,11 @@
<joint name="base_joint" />
<inertial>
- <mass value="20" />
+ <mass value="10" />
<com xyz="-0.1 0 ${base_size_z/2}" />
- <inertia ixx="5.652232699207" ixy="-0.009719934438" ixz="1.293988226423"
- iyy="5.669473158652" iyz="-0.007379583694" izz="3.683196351726" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0"
+ iyy="1.0" iyz="0.0"
+ izz="1.0" />
</inertial>
<visual>
@@ -53,8 +54,9 @@
<inertial>
<mass value="0.01"/>
<com xyz="0 0 ${base_size_z/2}" />
- <inertia ixx="5.652232699207" ixy="-0.009719934438" ixz="1.293988226423"
- iyy="5.669473158652" iyz="-0.007379583694" izz="3.683196351726" />
+ <inertia ixx="0.0652232699207" ixy="0.0" ixz="0.0"
+ iyy="0.0669473158652" iyz="0.0"
+ izz="0.0683196351726" />
</inertial>
<visual>
@@ -93,8 +95,9 @@
<inertial>
<mass value="0.01" /> <!-- check jmh 20081205 -->
<com xyz=" 0 0 0 " />
- <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
- iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943" />
+ <inertia ixx="0.012411765597" ixy="0.0" ixz="0.0"
+ iyy="0.015218160428" iyz="0.0"
+ izz="0.011763977943" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
@@ -134,8 +137,9 @@
<inertial>
<mass value="0.1"/>
<com xyz="0 0 ${base_size_z/2}" />
- <inertia ixx="5.652232699207" ixy="-0.009719934438" ixz="1.293988226423"
- iyy="5.669473158652" iyz="-0.007379583694" izz="3.683196351726" />
+ <inertia ixx="0.01" ixy="0.0" ixz="0.0"
+ iyy="0.01" iyz="0.0"
+ izz="0.01" />
</inertial>
<visual>
@@ -160,20 +164,22 @@
<parent name="base_caster_box_link" />
<origin xyz="-0.265 0 0.0" rpy="0 0 0" />
- <!--<joint name="base_caster_support_joint" type="revolute">
+ <joint name="base_caster_support_joint" type="revolute">
<axis xyz="0 0 1" />
<anchor xyz="0.01 0 0" />
<limit effort="100" velocity="100" k_velocity="0" />
<calibration values="1.5 -1" />
<joint_properties damping="0.0" friction="0.0" />
- </joint>-->
+ </joint>
+ <!--
<joint name="base_caster_support_joint" type="fixed"/>
-
+ -->
<inertial>
<mass value="0.01"/>
<com xyz="0 0 0" />
- <inertia ixx="5.652232699207" ixy="-0.009719934438" ixz="1.293988226423"
- iyy="5.669473158652" iyz="-0.007379583694" izz="3.683196351726" />
+ <inertia ixx="0.01" ixy="0.0" ixz="0.0"
+ iyy="0.01" iyz="0.0"
+ izz="0.01" />
</inertial>
<visual>
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_erratic.world
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_erratic.world (rev 0)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/gazebo_worlds/simple_erratic.world 2009-04-29 20:49:45 UTC (rev 14634)
@@ -0,0 +1,263 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
+ xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geo="http://willowgarage.com/xmlschema/#geo"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
+
+ <verbosity>5</verbosity>
+
+<!-- cfm is 1e-5 for single precision -->
+<!-- erp is typically .1-.8 -->
+<!-- here's the global contact cfm/erp -->
+ <physics:ode>
+ <stepTime>0.001</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>0.000000000001</cfm>
+ <erp>0.2</erp>
+ <quickStep>true</quickStep>
+ <quickStepIters>300</quickStepIters>
+ <quickStepW>1.3</quickStepW>
+ </physics:ode>
+
+ <geo:origin>
+ <lat>37.4270909558</lat><lon>-122.077919338</lon>
+ </geo:origin>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <imageSize>1024 800</imageSize>
+ <pos>0 0</pos>
+ <frames>
+ <row height="100%">
+ <camera width="100%">
+ <xyz>0 0 20</xyz>
+ <rpy>0 90 90</rpy>
+ </camera>
+ </row>
+ </frames>
+ </rendering:gui>
+
+
+ <rendering:ogre>
+ <ambient>1.0 1.0 1.0 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+ <gazeboPath>media</gazeboPath>
+ <grid>false</grid>
+ <maxUpdateRate>10</maxUpdateRate>
+ </rendering:ogre>
+
+
+ <model:physical name="gplane">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane">
+ <geom:plane name="plane">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <normal>0 0 1</normal>
+ <size>51.3 51.3</size>
+ <!-- map3.png -->
+ <material>PR2/floor_texture</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <!-- The "desk"-->
+ <!-- small desks -->
+ <model:physical name="../gazebo_objects/desk1_model">
+ <xyz>2.28 -0.21 0</xyz>
+ <rpy>0.0 0.0 0.0 </rpy>
+ <include embedded="true">
+ <!--xi:include href="../gazebo_objects/desk6.model" /--> <!-- block legs -->
+ <xi:include href="../gazebo_objects/desk4.model" /> <!-- skinny pole legs -->
+ </include>
+ </model:physical>
+
+ <!-- The second "desk"-->
+ <model:physical name="../gazebo_objects/desk2_model">
+ <xyz>2.25 -3.0 0</xyz>
+ <rpy>0.0 0.0 0.0 </rpy>
+ <include embedded="true">
+ <xi:include href="../gazebo_objects/desk5.model" />
+ </include>
+ </model:physical>
+
+ <!-- The small cylinder "cup" -->
+ <model:physical name="cylinder1_model">
+ <xyz> 2.5 0.0 1.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <body:cylinder name="cylinder1_body">
+ <geom:cylinder name="cylinder1_geom">
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mesh>default</mesh>
+ <size>0.025 0.075</size>
+ <mass> 0.05</mass>
+ <visual>
+ <size> 0.05 0.05 0.075</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_cylinder</mesh>
+ </visual>
+ </geom:cylinder>
+ <geom:box name="cylinder1_base_geom">
+ <kp>100000000.0</kp>
+ <kd>0.1</kd>
+ <mesh>default</mesh>
+ <xyz>0.0 0.0 -0.033</xyz>
+ <size>0.05 0.05 0.01</size>
+ <mass> 0.01</mass>
+ <visual>
+ <size> 0.05 0.05 0.01</size>
+ <material>Gazebo/Fish</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:cylinder>
+ </model:physical>
+
+ <!-- The small box "cup" -->
+ <model:physical name="../gazebo_objects/object1">
+ <xyz>2.28 -0.21 0</xyz>
+ <rpy>0.0 0.0 0.0 </rpy>
+ <include embedded="true">
+ <xi:include href="../gazebo_objects/object1.model" />
+ </include>
+ </model:physical>
+
+
+
+ <!-- The small ball -->
+ <model:physical name="sphere1_model">
+ <xyz> 2.5 -2.8 1.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <body:sphere name="sphere1_body">
+ <geom:sphere name="sphere1_geom">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <mesh>default</mesh>
+ <size> 0.15</size>
+ <mass> 1.0</mass>
+ <visual>
+ <size> 0.3 0.3 0.3</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_sphere</mesh>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <!-- The large ball map3.png -->
+ <model:physical name="sphere2_model">
+ <xyz> 5.85 4.35 1.55</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <body:sphere name="sphere2_body">
+ <geom:sphere name="sphere2_geom">
+ <kp>1000000.0</kp>
+ <kd>1.0</kd>
+ <mesh>default</mesh>
+ <size> 1.0</size>
+ <mass> 1.0</mass>
+ <visual>
+ <size> 2.0 2.0 2.0</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_sphere</mesh>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <!-- The wall in front map3.png -->
+ <model:physical name="wall_2_model">
+ <xyz> 11.6 -1.55 1.0</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_2_body">
+ <geom:box name="wall_2_geom">
+ <mesh>default</mesh>
+ <size>2.1 32.8 2.0</size>
+ <visual>
+ <size>2.1 32.8 2.0</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <!-- The wall behind -->
+ <model:physical name="wall_1_model">
+ <xyz> -11.3 -1.45 1.0</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_1_body">
+ <geom:box name="wall_1_geom">
+ <mesh>default</mesh>
+ <size>0.4 24.0 2.0</size>
+ <visual>
+ <size>0.4 24.0 2.0</size>
+ <material>Gazebo/PioneerBody</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <!-- The wall 3 -->
+ <model:physical name="wall_3_model">
+ <xyz> 6.7 8.05 1.0</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:box name="wall_3_body">
+ <geom:box name="wall_3_geom">
+ <mesh>default</mesh>
+ <size>7.5 1.2 2.0</size>
+ <visual>
+ <size>7.5 1.2 2.0</size>
+ <material>Gazebo/Chrome</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:empty name="factory_model">
+ <controller:factory name="factory_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <interface:factory name="factory_iface"/>
+ </controller:factory>
+ </model:empty>
+
+ <!-- White Directional light -->
+ <!--
+ <model:renderable name="directional_white">
+ <light>
+ <type>directional</type>
+ <direction>0 -0.5 -0.5</direction>
+ <diffuseColor>0.4 0.4 0.4</diffuseColor>
+ <specularColor>0.0 0.0 0.0</specularColor>
+ <attenuation>1 0.0 1.0 0.4</attenuation>
+ </light>
+ </model:renderable>
+ -->
+
+
+</gazebo:world>
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