Finish cleanup of URDF description files.

chrisl8 · Oct 13, 2024 · d47aa4f · d47aa4f
1 parent c8284ba
commit d47aa4f
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Showing 7 changed files with 93 additions and 114 deletions.
diff --git a/.gitignore b/.gitignore
@@ -32,4 +32,3 @@ cmake-build-none/
 /cypress-tests/package-lock.json
 /node/package-lock.json
 /website/package-lock.json
-arlobot.urdf
diff --git a/arlobot_ros/arlobot.urdf b/arlobot_ros/arlobot.urdf
@@ -0,0 +1,8 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/chrisl8/ArloBot/urdf/arlo.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="arlobot_hardware">
+  <!-- Macro for ArloBot body. -->
+</robot>
diff --git a/setup-jazzy.sh b/setup-jazzy.sh
@@ -408,8 +408,8 @@ printf "\n${YELLOW}[Installing dependencies for ROS build-from-source packages.]
 cd "${HOME}/${ROS2_WS}"
 rosdep install -q -y -r --from-paths src --ignore-src --rosdistro ${INSTALLING_ROS_DISTRO}
 
-printf "\n${YELLOW}[Generating xacro URDF file.]${NC}\n"
-/opt/ros/jazzy/bin/xacro "${HOME}/ArloBot/urdf/common.urdf.xacro" > "${HOME}/ArloBot/arlobot_ros/arlobot.urdf"
+printf "\n${YELLOW}[Generating URDF file with xacro.]${NC}\n"
+/opt/ros/jazzy/bin/xacro "${HOME}/ArloBot/urdf-xacro-source/common.urdf.xacro" > "${HOME}/ArloBot/arlobot_ros/arlobot.urdf"
 
 printf "\n${YELLOW}[(Re)Building ROS Source files.]${NC}\n"
 cd "${HOME}/${ROS2_WS}"

diff --git a/urdf-xacro-source/Readme.MD b/urdf-xacro-source/Readme.MD
@@ -0,0 +1,40 @@
+# ArloBot Description
+
+## Deploy
+
+This is a `urdf` XML file with Macros in it. The macros are expanded by a tool called `xacro`.
+
+You must use the `xacro` command to convert these files int a URDF file before running:  
+`colcon build`
+`xacro common.urdf.xacro > ../arlobot_ros/arlobot.urdf`
+
+The `setup-jazzy.sh` file does this automatically.
+
+## Notes
+
+This folder holds the files that "describe" the physical
+characteristics of the Arlobot.
+
+To view the robot model run this from a GUI session:
+roslaunch arlobot_ros model_robot.launch
+or use the script:
+~/dev_ws/src/ArloBot/scripts/model-robot.sh
+
+Start with common.urdf.xacro which is what loads
+the other files. It will help you see what each
+file does.
+
+There is also an Excel Spreadsheet in the root of this
+repository called ArloURDF-Calculations.xlsx that has a lot of
+measurements and calculations that I used to build
+these files. You can use them to help with adjustments.
+
+---
+
+The robot's physical description is here in the .urdf.xacro files.
+
+While a lot of this can be ignored as cosmetic, two things are important:
+
+1. The physical footprint needs to be right. For arlobot though, that just means having one of the plates on board. As long as nothing sticks out from that plate, you are good.
+
+2. The lidar position on the robot is VERY IMPORTANT
diff --git a/urdf/arlo.urdf.xacro → urdf-xacro-source/arlo.urdf.xacro b/urdf/arlo.urdf.xacro → urdf-xacro-source/arlo.urdf.xacro
@@ -23,15 +23,15 @@
     <!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin, navigation stack depends on this frame -->
     <link name="base_footprint">
       <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
           <box size="0.001 0.001 0.001"/>
         </geometry>
         <material name="Green"/>
       </visual>
 
       <collision>
-        <origin xyz="0 0 0.017" rpy="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 0.017"/>
         <geometry>
           <box size="0.001 0.001 0.001"/>
         </geometry>
@@ -47,15 +47,15 @@
       </inertial>
 
       <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
           <cylinder length="0.0095" radius="0.2245"/>
         </geometry>
         <material name="veryDarkGrey"/>
       </visual>
 
       <collision>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
           <cylinder length="0.0095" radius="0.2245"/>
         </geometry>
@@ -72,23 +72,23 @@
       </inertial>
 
       <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
           <box size="0.1778 0.3366 0.0762"/>
         </geometry>
         <material name="veryDarkGrey"/>
       </visual>
 
       <collision>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
           <box size="0.1778 0.3366 0.0762"/>
         </geometry>
       </collision>
     </link>
 
     <joint name="battery_box_joint" type="fixed">
-      <origin xyz="0 0 -0.04285" rpy="0 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.04285"/>
       <parent link="base_link"/>
       <child link="battery_box"/>
     </joint>
@@ -103,9 +103,9 @@
       </inertial>
 
       <visual>
-        <origin xyz="0 0 -0.05" rpy="-1.5707 0 0"/>
+      <origin rpy="-1.5707 0 0" xyz="0 0 -0.05"/>
         <geometry>
-          <cylinder radius="0.03" length="0.03175"/>
+        <cylinder length="0.03175" radius="0.03"/>
         </geometry>
         <material name="light_grey">
           <color rgba="0.6 0.6 0.6 1"/>
@@ -115,7 +115,7 @@
     </link>
 
     <joint name="front_caster_joint" type="fixed">
-      <origin xyz="0.18745 0 -0.00475" rpy="0 0 0"/>
+    <origin rpy="0 0 0" xyz="0.18745 0 -0.00475"/>
       <parent link="base_link"/>
       <child link="front_caster"/>
     </joint>
@@ -130,9 +130,9 @@
       </inertial>
 
       <visual>
-        <origin xyz="0 0 -0.05" rpy="-1.5707 0 0"/>
+      <origin rpy="-1.5707 0 0" xyz="0 0 -0.05"/>
         <geometry>
-          <cylinder radius="0.03" length="0.03175"/>
+        <cylinder length="0.03175" radius="0.03"/>
         </geometry>
         <material name="light_grey">
           <color rgba="0.6 0.6 0.6 1"/>
@@ -142,13 +142,13 @@
     </link>
 
     <joint name="rear_caster_joint" type="fixed">
-      <origin xyz="-0.18745 0 -0.00475" rpy="0 0 0"/>
+    <origin rpy="0 0 0" xyz="-0.18745 0 -0.00475"/>
       <parent link="base_link"/>
       <child link="rear_caster"/>
     </joint>
 
     <joint name="base_footprint_joint" type="fixed">
-      <origin xyz="0 0 0.10125" rpy="0 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.10125"/>
       <parent link="base_footprint"/>
       <child link="base_link"/>
     </joint>
@@ -162,23 +162,23 @@
       </inertial>
 
       <visual>
-        <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
+      <origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
         <geometry>
-          <cylinder radius="0.00635" length="0.00635"/>
+        <cylinder length="0.00635" radius="0.00635"/>
         </geometry>
         <material name="light_grey"/>
       </visual>
 
       <collision>
-        <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
+      <origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
         <geometry>
-          <cylinder radius="0.00635" length="0.00635"/>
+        <cylinder length="0.00635" radius="0.00635"/>
         </geometry>
       </collision>
     </link>
 
     <joint name="left_axle_joint" type="fixed">
-      <origin xyz="0 0.171475 0.0178" rpy="0 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0.171475 0.0178"/>
       <parent link="battery_box"/>
       <child link="left_axle_link"/>
       <axis xyz="0 1 0"/>
@@ -193,23 +193,23 @@
       </inertial>
 
       <visual>
-        <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
+      <origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
         <geometry>
-          <cylinder radius="0.00635" length="0.00635"/>
+        <cylinder length="0.00635" radius="0.00635"/>
         </geometry>
         <material name="light_grey"/>
       </visual>
 
       <collision>
-        <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
+      <origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
         <geometry>
-          <cylinder radius="0.00635" length="0.00635"/>
+        <cylinder length="0.00635" radius="0.00635"/>
         </geometry>
       </collision>
     </link>
 
     <joint name="right_axle_joint" type="fixed">
-      <origin xyz="0 -0.171475 0.0178" rpy="0 0 0"/>
+    <origin rpy="0 0 0" xyz="0 -0.171475 0.0178"/>
       <parent link="battery_box"/>
       <child link="right_axle_link"/>
       <axis xyz="0 1 0"/>
@@ -224,25 +224,25 @@
       </inertial>
 
       <visual>
-        <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
+      <origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
         <geometry>
-          <cylinder radius="0.0762" length="0.03175"/>
+        <cylinder length="0.03175" radius="0.0762"/>
         </geometry>
         <material name="black"/>
       </visual>
 
       <collision>
-        <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
+      <origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
         <geometry>
-          <cylinder radius="0.0762" length="0.03175"/>
+        <cylinder length="0.03175" radius="0.0762"/>
         </geometry>
       </collision>
     </link>
 
     <!-- Fixed because we never rotate it anyway, it is just for show -->
     <!-- NOTE This may prevent gazebo from working with this model -->
     <joint name="left_wheel_joint" type="fixed">
-      <origin xyz="0 0.01905 0" rpy="0 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0.01905 0"/>
       <parent link="left_axle_link"/>
       <child link="left_wheel_link"/>
       <axis xyz="0 1 0"/>
@@ -257,33 +257,33 @@
       </inertial>
 
       <visual>
-        <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
+      <origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
         <geometry>
-          <cylinder radius="0.0762" length="0.03175"/>
+        <cylinder length="0.03175" radius="0.0762"/>
         </geometry>
         <material name="black"/>
       </visual>
 
       <collision>
-        <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
+      <origin rpy="0 1.5707 1.5707" xyz="0 0 0"/>
         <geometry>
-          <cylinder radius="0.0762" length="0.03175"/>
+        <cylinder length="0.03175" radius="0.0762"/>
         </geometry>
       </collision>
     </link>
 
     <!-- Fixed because we never rotate it anyway, it is just for show -->
     <!-- NOTE This may prevent gazebo from working with this model -->
     <joint name="right_wheel_joint" type="fixed">
-      <origin xyz="0 -0.01905 0" rpy="0 0 0"/>
+    <origin rpy="0 0 0" xyz="0 -0.01905 0"/>
       <parent link="right_axle_link"/>
       <child link="right_wheel_link"/>
       <axis xyz="0 1 0"/>
     </joint>
 
     <!-- This pretends to be in the center in order to aid in calculating degrees from multiple sensors on one fake laser scan -->
     <joint name="ping_array_joint" type="fixed">
-      <origin xyz="0 0 0.03695" rpy="0 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.03695"/>
       <parent link="base_link"/>
       <child link="ping_sensor_array"/>
     </joint>
@@ -304,7 +304,7 @@
     </link>
 
     <joint name="ir_array_joint" type="fixed">
-      <origin xyz="0 0 0.03695" rpy="0 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.03695"/>
       <parent link="base_link"/>
       <child link="ir_sensor_array"/>
     </joint>
@@ -328,7 +328,7 @@
     <joint name="scanse_sweep_joint" type="fixed">
       <!-- Minor adjustments based on lining up Scanse Sweep output with 3D Sensor output -->
       <!-- So if the 3D sensor is misaligned the Scanse Sweep is off by the same amount -->
-      <origin xyz="0.15 0.0 0.269107" rpy="0 0 3.13"/>
+    <origin rpy="0 0 3.13" xyz="0.15 0.0 0.269107"/>
       <parent link="base_link"/>
       <child link="scanse_sweep"/>
     </joint>
@@ -358,7 +358,7 @@
       <!-- NOTE: The "FRONT" of the RPLIDAR A2/3 is the point where the cord comes out. -->
       <!-- Hence the r of 3.1 to rotate it half way around.  -->
       <!-- The height is set even with the top plate. It shouldn't matter really. -->
-      <origin xyz="0.125 0.0 0.269107" rpy="0.0 0.0 0.0"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.125 0.0 0.269107"/>
       <parent link="base_link"/>
       <child link="rplidar"/>
     </joint>
@@ -397,7 +397,7 @@
       </inertial>
 
       <visual>
-        <origin xyz=" 0 0 0 " rpy="0 0 0"/>
+      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
         <geometry>
           <cylinder length="0.127" radius="0.00635"/>
         </geometry>
@@ -407,7 +407,7 @@
       </visual>
 
       <collision>
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
           <cylinder length="0.127" radius="0.00635"/>
         </geometry>
@@ -459,7 +459,7 @@
                           z_loc="0.06825"/>
 
     <joint name="plate_1_joint" type="fixed">
-      <origin xyz="0 0 0.1365" rpy="0 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1365"/>
       <parent link="plate_0_link"/>
       <child link="plate_1_link"/>
     </joint>
@@ -474,7 +474,7 @@
       </inertial>
 
       <visual>
-        <origin xyz=" 0 0 0 " rpy="0 0 0"/>
+      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
         <geometry>
           <cylinder length="0.0095" radius="0.2245"/>
         </geometry>
@@ -484,7 +484,7 @@
       </visual>
 
       <collision>
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
           <cylinder length="0.0095" radius="0.2245"/>
         </geometry>

diff --git a/urdf/common.urdf.xacro → urdf-xacro-source/common.urdf.xacro b/urdf/common.urdf.xacro → urdf-xacro-source/common.urdf.xacro