diff --git a/src/astra_description/core_rover_description/config/joint_names_core_rover_description.yaml b/src/astra_description/core_description/config/joint_names_core_rover_description.yaml similarity index 100% rename from src/astra_description/core_rover_description/config/joint_names_core_rover_description.yaml rename to src/astra_description/core_description/config/joint_names_core_rover_description.yaml diff --git a/src/astra_description/core_rover_description/config/ros2_controllers.yaml b/src/astra_description/core_description/config/ros2_controllers.yaml similarity index 100% rename from src/astra_description/core_rover_description/config/ros2_controllers.yaml rename to src/astra_description/core_description/config/ros2_controllers.yaml diff --git a/src/astra_description/core_rover_description/config/rviz_basic_settings.rviz b/src/astra_description/core_description/config/rviz_basic_settings.rviz similarity index 100% rename from src/astra_description/core_rover_description/config/rviz_basic_settings.rviz rename to src/astra_description/core_description/config/rviz_basic_settings.rviz diff --git a/src/astra_description/core_rover_description/export.log b/src/astra_description/core_description/export.log similarity index 100% rename from src/astra_description/core_rover_description/export.log rename to src/astra_description/core_description/export.log diff --git a/src/astra_description/core_rover_description/launch/display.launch.py b/src/astra_description/core_description/launch/display.launch.py similarity index 95% rename from src/astra_description/core_rover_description/launch/display.launch.py rename to src/astra_description/core_description/launch/display.launch.py index b15f799..ca7517d 100644 --- a/src/astra_description/core_rover_description/launch/display.launch.py +++ b/src/astra_description/core_description/launch/display.launch.py @@ -15,13 +15,13 @@ from launch_ros.parameter_descriptions import ParameterValue def generate_launch_description(): # Set the path to this package. - pkg_share = FindPackageShare(package='core_rover_description').find('core_rover_description') + pkg_share = FindPackageShare(package='core_description').find('core_description') # Set the path to the RViz configuration settings default_rviz_config_path = os.path.join(pkg_share, 'config/rviz_basic_settings.rviz') # Set the path to the URDF file - default_urdf_model_path = os.path.join(pkg_share, 'urdf/core_rover_description.xacro') + default_urdf_model_path = os.path.join(pkg_share, 'urdf/core_description.xacro') ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/src/astra_description/core_rover_description/launch/robot_state_publisher.launch.py b/src/astra_description/core_description/launch/robot_state_publisher.launch.py similarity index 93% rename from src/astra_description/core_rover_description/launch/robot_state_publisher.launch.py rename to src/astra_description/core_description/launch/robot_state_publisher.launch.py index 18c470d..c2ef131 100644 --- a/src/astra_description/core_rover_description/launch/robot_state_publisher.launch.py +++ b/src/astra_description/core_description/launch/robot_state_publisher.launch.py @@ -13,7 +13,7 @@ from launch_ros.substitutions import FindPackageShare def generate_launch_description(): # Set the path to this package. - pkg_share = FindPackageShare(package='core_rover_description').find('core_rover_description') + pkg_share = FindPackageShare(package='core_description').find('core_description') # Launch configuration variables specific to simulation urdf_model = LaunchConfiguration('urdf_model') @@ -24,7 +24,7 @@ def generate_launch_description(): # Declare the launch arguments declare_urdf_model_path_cmd = DeclareLaunchArgument( name='urdf_model', - default_value=os.path.join(pkg_share, 'urdf', 'core_rover_description.xacro'), + default_value=os.path.join(pkg_share, 'urdf', 'core_description.xacro'), description='Absolute path to robot urdf file') declare_rviz_config_file_cmd = DeclareLaunchArgument( diff --git a/src/astra_description/core_rover_description/meshes/averaging_bar.STL b/src/astra_description/core_description/meshes/averaging_bar.STL similarity index 100% rename from src/astra_description/core_rover_description/meshes/averaging_bar.STL rename to src/astra_description/core_description/meshes/averaging_bar.STL diff --git a/src/astra_description/core_rover_description/meshes/base_link.STL b/src/astra_description/core_description/meshes/base_link.STL similarity index 100% rename from src/astra_description/core_rover_description/meshes/base_link.STL rename to src/astra_description/core_description/meshes/base_link.STL diff --git a/src/astra_description/core_rover_description/meshes/bl_wheel.STL b/src/astra_description/core_description/meshes/bl_wheel.STL similarity index 100% rename from src/astra_description/core_rover_description/meshes/bl_wheel.STL rename to src/astra_description/core_description/meshes/bl_wheel.STL diff --git a/src/astra_description/core_rover_description/meshes/br_wheel.STL b/src/astra_description/core_description/meshes/br_wheel.STL similarity index 100% rename from src/astra_description/core_rover_description/meshes/br_wheel.STL rename to src/astra_description/core_description/meshes/br_wheel.STL diff --git a/src/astra_description/core_rover_description/meshes/fl_wheel.STL b/src/astra_description/core_description/meshes/fl_wheel.STL similarity index 100% rename from src/astra_description/core_rover_description/meshes/fl_wheel.STL rename to src/astra_description/core_description/meshes/fl_wheel.STL diff --git a/src/astra_description/core_rover_description/meshes/fr_wheel.STL b/src/astra_description/core_description/meshes/fr_wheel.STL similarity index 100% rename from src/astra_description/core_rover_description/meshes/fr_wheel.STL rename to src/astra_description/core_description/meshes/fr_wheel.STL diff --git a/src/astra_description/core_rover_description/meshes/left_suspension_member.STL b/src/astra_description/core_description/meshes/left_suspension_member.STL similarity index 100% rename from src/astra_description/core_rover_description/meshes/left_suspension_member.STL rename to src/astra_description/core_description/meshes/left_suspension_member.STL diff --git a/src/astra_description/core_rover_description/meshes/right_suspension_member.STL b/src/astra_description/core_description/meshes/right_suspension_member.STL similarity index 100% rename from src/astra_description/core_rover_description/meshes/right_suspension_member.STL rename to src/astra_description/core_description/meshes/right_suspension_member.STL diff --git a/src/astra_description/core_rover_description/package.xml b/src/astra_description/core_description/package.xml similarity index 91% rename from src/astra_description/core_rover_description/package.xml rename to src/astra_description/core_description/package.xml index df01630..50e214e 100755 --- a/src/astra_description/core_rover_description/package.xml +++ b/src/astra_description/core_description/package.xml @@ -1,7 +1,7 @@ - core_rover_description + core_description 1.0.0 This package contains configuration data, 3D models and launch files for Clucky Core David Sharpe diff --git a/src/astra_description/core_rover_description/resource/core_rover_description b/src/astra_description/core_description/resource/core_description similarity index 100% rename from src/astra_description/core_rover_description/resource/core_rover_description rename to src/astra_description/core_description/resource/core_description diff --git a/src/astra_description/core_rover_description/setup.cfg b/src/astra_description/core_description/setup.cfg similarity index 100% rename from src/astra_description/core_rover_description/setup.cfg rename to src/astra_description/core_description/setup.cfg diff --git a/src/astra_description/core_rover_description/setup.py b/src/astra_description/core_description/setup.py similarity index 95% rename from src/astra_description/core_rover_description/setup.py rename to src/astra_description/core_description/setup.py index 68c72b8..c6f0c4f 100644 --- a/src/astra_description/core_rover_description/setup.py +++ b/src/astra_description/core_description/setup.py @@ -2,7 +2,7 @@ from setuptools import find_packages, setup import os from glob import glob -package_name = 'core_rover_description' +package_name = 'core_description' list_of_folders = ["config", "launch", "meshes", "textures", "urdf"] diff --git a/src/astra_description/core_description/urdf/core_description.csv b/src/astra_description/core_description/urdf/core_description.csv new file mode 100644 index 0000000..885b72f --- /dev/null +++ b/src/astra_description/core_description/urdf/core_description.csv @@ -0,0 +1,9 @@ +Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity +base_link,-6.65913085716885E-06,0.109571969438869,-0.0865730790907174,0,0,0,75.3855391061812,2.40019927956544,0.000116237424420155,-0.00156114013755156,2.05138658583389,0.00559155518698155,4.26537268155378,0,0,0,0,0,0,package://core_description/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_description/meshes/base_link.STL,,Shell & Averaging System-1/CSC Shell Assembly-1/CSC V4 Shell-1;Motor and 6 pin connector mount-2;Motor and 6 pin connector mount-1;Inside Motor and 6 pin connector mount plate-1;Shell & Averaging System-1/Diff Box Backing Plate V2-1;Shell & Averaging System-1/Averaging System Outer Plate Backing V1-1;Shell & Averaging System-1/Arm Bracket Assembly Right V3-1/L bracket-1;Shell & Averaging System-1/MirrorArm Bracket Assembly-2/MirrorArm Bolts-1;Shell & Averaging System-1/Arm Bracket Assembly Right V3-1/Arm Bolts-1;Elec_Box_Assem-1/Box_Base-1;Elec_Box_Assem-1/Box_Left_Wall-1;Elec_Box_Assem-1/Box_Front_Wall-1;Elec_Box_Assem-1/Box_Right_Wall-1;Elec_Box_Assem-1/POE Switch (Measured with hole pattern)-1;Elec_Box_Assem-1/Ethernet Switch (Measured with hole pattern)-1;Elec_Box_Assem-1/NUC13ANH_NUC13LCH-1/NUC13ANH_NUC13LCH.STP-1/00_WS_ALL_ASM_CHECK_ASM_1_ASM_1.STP-1/WS_ME_PLACEMENT_ASM_ASM_1_ASM_2.STP-1/WS_ME_TALL_ASSY_ASM_1_ASM_1.STP-1/WS_TOP_COVER_ASM_ASM_1_ASM_1.STP-1/AN_TOP_COVER_1_2.STP-1;Elec_Box_Assem-1/NUC13ANH_NUC13LCH-1/NUC13ANH_NUC13LCH.STP-1/00_WS_ALL_ASM_CHECK_ASM_1_ASM_1.STP-1/WS_ME_PLACEMENT_ASM_ASM_1_ASM_2.STP-1/WS_ME_TALL_ASSY_ASM_1_ASM_1.STP-1/WS_TALL_MID_FRAME_ASM_ASM_1_ASM_1.STP-1/WS_TALL_MID_FRAME_NEW_1_1.STP-1;Elec_Box_Assem-1/SolidStateRelay-1;Elec_Box_Assem-1/100AFuse-1;Elec_Box_Assem-1/Box_Back_Wall-1;Rear_Wall_Sheath_Outer-2;Rear_Wall_Sheath_Outer-1;Shell & Averaging System-1/MirrorArm Bracket Assembly-2/MirrorL bracket-1;Shell & Averaging System-1/Chasis C-Channel Lip-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Core Mount Front Plate-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Core Mount Front Plate-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-9;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-10;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-8;Shell & Averaging System-1/Averaging System Outer Plate V3-1;Shell & Averaging System-1/Diff V5 Assem-2/Diff Box V5-1;Shell & Averaging System-1/Averaging System Outer Plate V3-2;Shell & Averaging System-1/picatinny95mm-1;Shell & Averaging System-1/picatinny95mm-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-3;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-4;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-2;Shell & Averaging System-1/6436K14 .5 Shaft Collar-2;Shell & Averaging System-1/6436K14 .5 Shaft Collar-4;Shell & Averaging System-1/6436K14 .5 Shaft Collar-3;Shell & Averaging System-1/6436K14 .5 Shaft Collar-1;Rear_Wall_Sheath_Inner-1;Shell & Averaging System-1/8896T69 SS U Bolt 1.375in-1;Shell & Averaging System-1/8896T69 SS U Bolt 1.375in-2;Shell & Averaging System-1/Averaging Shaft V3-2;Shell & Averaging System-1/Averaging Shaft V3-3;Shell & Averaging System-1/Diff V5 Assem-2/2342K186_Bearing .5 shaft sealed-3;Shell & Averaging System-1/2342K186_Bearing .5 shaft sealed-1;Shell & Averaging System-1/2342K186_Bearing .5 shaft sealed-2,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, +right_suspension_member,0.0011302,-0.12483,0.029359,0,0,0,1.7681,0.0021448,-1.4957E-06,-2.5225E-08,0.0068473,0.00021191,0.0058417,0,0,0,0,0,0,package://core_description/meshes/right_suspension_member.STL,1,1,1,1,0,0,0,0,0,0,package://core_description/meshes/right_suspension_member.STL,,A- POST BOND SUSPENSION (1)-4/P- CENTER LEG [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- CORE ATTACHMENT [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- AXIS PLATE [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-2;A- POST BOND SUSPENSION (1)-4/P- SIDE LEGS [POST BOND SUSPENSION] (1)-2;Gearbox-Wheel Assembly - MIRROR-6/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-6/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-6/Bonding Tube-1;Gearbox-Wheel Assembly - MIRROR-6/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-6/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/Gearbox Casing-1;A- POST BOND SUSPENSION (1)-4/P- SIDE LEGS [POST BOND SUSPENSION] (1)-1;Gearbox-Wheel Assembly - MIRROR-7/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-7/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/Bonding Tube-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube 2-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/94645A111_High-Strength Steel Nylon-Insert Locknut-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/96144A239_Fine-Thread Alloy Steel Socket Head Screw-1,Origin_right_suspension_manual,right_suspension_axis,right_suspension_joint,revolute,-0.33067,0.028531,-0.15443,1.5708,0,-1.5708,base_link,0,0,-1,0,0,-0.38,0.38,,,,,,,, +br_wheel,-0.0476013497459569,-1.09801088221673E-08,6.12845485470359E-09,0,0,0,5.74175792756056,0.115468209215025,7.19767266741869E-10,-2.90603405999934E-10,0.0647068246341468,7.16669744358495E-07,0.0632464587169257,0,0,0,0,0,0,package://core_description/meshes/br_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_description/meshes/br_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-7/Updated Wheel Starboard-1,Origin_br_wheel_axis,br_wheel_axis,br_wheel_axis,continuous,-0.41838,-0.17155,0.12984,0.52965,-1.5708,0,right_suspension_member,1,0,0,,,,,,,,,,,, +fr_wheel,-0.0476013497450763,-1.09822306249008E-08,6.12913009234717E-09,0,0,0,5.74175792767292,0.115468209216444,7.20424942594475E-10,-2.90800382125705E-10,0.0647068246345494,7.16670201096685E-07,0.063246458718483,0,0,0,0,0,0,package://core_description/meshes/fr_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_description/meshes/fr_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-6/Updated Wheel Starboard-1,Origin_fr_wheel_joint,fr_wheel_axis,fr_wheel_joint,continuous,0.41838,-0.17155,0.12984,1.5769,-1.5708,0,right_suspension_member,1,0,0,,,,,,,,,,,, +averaging_bar,5.12266309124314E-10,0.0103345512865068,6.28647148226413E-10,0,0,0,0.872230516841863,0.000102234478668288,1.26173058927933E-11,-1.00509715989169E-11,0.0236921798518964,1.54032135551904E-11,0.0236577000709469,0,0,0,0,0,0,package://core_description/meshes/averaging_bar.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_description/meshes/averaging_bar.STL,,A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Old Averaging Bar (Modified)-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/92981A220_Alloy Steel Shoulder Screws-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/92981A220_Alloy Steel Shoulder Screws-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube-1,Origin_averaging_bar_axis,averaging_bar_axis,averaging_bar_axis,revolute,0,-0.23362,-0.0508,0,-0.0060774,-3.1416,base_link,0,-1,0,0,0,-0.38,0.38,,,,,,,, +left_suspension_member,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,package://core_description/meshes/left_suspension_member.STL,1,1,1,1,0,0,0,0,0,0,package://core_description/meshes/left_suspension_member.STL,,A- POST BOND SUSPENSION (1)-3/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- CENTER LEG [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-2;A- POST BOND SUSPENSION (1)-3/P- SIDE LEGS [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- SIDE LEGS [POST BOND SUSPENSION] (1)-2;Gearbox-Wheel Assembly - MIRROR-2/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-2/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-2/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-1/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-1/Bonding Tube-1;Gearbox-Wheel Assembly - MIRROR-2/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-2/Bonding Tube-1;A- POST BOND SUSPENSION (1)-3/P- CORE ATTACHMENT [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- AXIS PLATE [POST BOND SUSPENSION] (1)-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube 2-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/96144A239_Fine-Thread Alloy Steel Socket Head Screw-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/94645A111_High-Strength Steel Nylon-Insert Locknut-2,Origin_left_suspension_manual,left_suspension_axis,left_suspension_joint,revolute,0.33067,0.028531,-0.15443,1.5708,0,1.5708,base_link,0,0,-1,0,0,-0.38,0.38,,,,,,,, +bl_wheel,-0.0476013497470983,-1.09827822947217E-08,6.12940226352165E-09,0,0,0,5.7417579274106,0.115468209213072,7.20585760708907E-10,-2.90859312873504E-10,0.0647068246335877,7.16669141063303E-07,0.0632464587148044,0,0,0,0,0,0,package://core_description/meshes/bl_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_description/meshes/bl_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-1/Updated Wheel Starboard-1,Origin_bl_wheel_joint,bl_wheel_axis,bl_wheel_joint,continuous,0.41838,-0.17155,0.12984,1.5769,-1.5708,0,left_suspension_member,1,0,0,,,,,,,,,,,, +fl_wheel,-0.0476013497448114,-1.09827921201955E-08,6.12933048760311E-09,0,0,0,5.74175792770551,0.115468209216877,7.20541990109492E-10,-2.90874836866816E-10,0.0647068246346634,7.16670369639572E-07,0.06324645871897,0,0,0,0,0,0,package://core_description/meshes/fl_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_description/meshes/fl_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-2/Updated Wheel Starboard-1,Origin_fl_wheel_joint,fl_wheel_axis,fl_wheel_joint,continuous,-0.418377874454344,-0.171553199039643,0.129841324042317,0.529654981264331,-1.5707963267949,0,left_suspension_member,1,0,0,,,,,,,,,,,, diff --git a/src/astra_description/core_rover_description/urdf/core_rover_description.xacro b/src/astra_description/core_description/urdf/core_description.xacro similarity index 100% rename from src/astra_description/core_rover_description/urdf/core_rover_description.xacro rename to src/astra_description/core_description/urdf/core_description.xacro diff --git a/src/astra_description/core_rover_description/urdf/core_rover.urdf b/src/astra_description/core_description/urdf/core_rover.urdf similarity index 84% rename from src/astra_description/core_rover_description/urdf/core_rover.urdf rename to src/astra_description/core_description/urdf/core_rover.urdf index 0d5966d..9776e28 100644 --- a/src/astra_description/core_rover_description/urdf/core_rover.urdf +++ b/src/astra_description/core_description/urdf/core_rover.urdf @@ -3,7 +3,7 @@ Commit Version: Build Version: 1.6.9403.28032 For more information, please see http://wiki.ros.org/sw_urdf_exporter --> + name="core_description"> @@ -36,7 +36,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/base_link.STL" /> @@ -50,7 +50,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/base_link.STL" /> @@ -77,7 +77,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/right_suspension_member.STL" /> @@ -91,7 +91,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/right_suspension_member.STL" /> @@ -141,7 +141,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/br_wheel.STL" /> @@ -155,7 +155,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/br_wheel.STL" /> @@ -196,7 +196,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/fr_wheel.STL" /> @@ -210,7 +210,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/fr_wheel.STL" /> @@ -251,7 +251,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/averaging_bar.STL" /> @@ -265,7 +265,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/averaging_bar.STL" /> @@ -315,7 +315,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/left_suspension_member.STL" /> @@ -329,7 +329,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/left_suspension_member.STL" /> @@ -375,7 +375,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/bl_wheel.STL" /> @@ -389,7 +389,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/bl_wheel.STL" /> @@ -430,7 +430,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/fl_wheel.STL" /> @@ -444,7 +444,7 @@ rpy="0 0 0" /> + filename="package://core_description/meshes/fl_wheel.STL" /> diff --git a/src/astra_description/core_rover_description/urdf/ros2_control.xacro b/src/astra_description/core_description/urdf/ros2_control.xacro similarity index 93% rename from src/astra_description/core_rover_description/urdf/ros2_control.xacro rename to src/astra_description/core_description/urdf/ros2_control.xacro index a2a411b..d87077c 100644 --- a/src/astra_description/core_rover_description/urdf/ros2_control.xacro +++ b/src/astra_description/core_description/urdf/ros2_control.xacro @@ -32,7 +32,7 @@ - $(find core_rover_description)/config/ros2_controllers.yaml + $(find core_description)/config/ros2_controllers.yaml /diff_controller/cmd_vel_unstamped:=/core/twist diff --git a/src/astra_description/core_gazebo/launch/core.gazebo.launch.py b/src/astra_description/core_gazebo/launch/core.gazebo.launch.py index 78ab127..4974071 100644 --- a/src/astra_description/core_gazebo/launch/core.gazebo.launch.py +++ b/src/astra_description/core_gazebo/launch/core.gazebo.launch.py @@ -30,7 +30,7 @@ def generate_launch_description(): """ # Constants for paths to different files and folders package_name_gazebo = 'core_gazebo' - package_name_description = 'core_rover_description' + package_name_description = 'core_description' # package_name_moveit = 'mycobot_moveit_config' default_robot_name = 'core_rover' diff --git a/src/astra_description/core_rover_description/urdf/core_rover_description.csv b/src/astra_description/core_rover_description/urdf/core_rover_description.csv deleted file mode 100644 index dfd36fa..0000000 --- a/src/astra_description/core_rover_description/urdf/core_rover_description.csv +++ /dev/null @@ -1,9 +0,0 @@ -Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity -base_link,-6.65913085716885E-06,0.109571969438869,-0.0865730790907174,0,0,0,75.3855391061812,2.40019927956544,0.000116237424420155,-0.00156114013755156,2.05138658583389,0.00559155518698155,4.26537268155378,0,0,0,0,0,0,package://core_rover_description/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/base_link.STL,,Shell & Averaging System-1/CSC Shell Assembly-1/CSC V4 Shell-1;Motor and 6 pin connector mount-2;Motor and 6 pin connector mount-1;Inside Motor and 6 pin connector mount plate-1;Shell & Averaging System-1/Diff Box Backing Plate V2-1;Shell & Averaging System-1/Averaging System Outer Plate Backing V1-1;Shell & Averaging System-1/Arm Bracket Assembly Right V3-1/L bracket-1;Shell & Averaging System-1/MirrorArm Bracket Assembly-2/MirrorArm Bolts-1;Shell & Averaging System-1/Arm Bracket Assembly Right V3-1/Arm Bolts-1;Elec_Box_Assem-1/Box_Base-1;Elec_Box_Assem-1/Box_Left_Wall-1;Elec_Box_Assem-1/Box_Front_Wall-1;Elec_Box_Assem-1/Box_Right_Wall-1;Elec_Box_Assem-1/POE Switch (Measured with hole pattern)-1;Elec_Box_Assem-1/Ethernet Switch (Measured with hole pattern)-1;Elec_Box_Assem-1/NUC13ANH_NUC13LCH-1/NUC13ANH_NUC13LCH.STP-1/00_WS_ALL_ASM_CHECK_ASM_1_ASM_1.STP-1/WS_ME_PLACEMENT_ASM_ASM_1_ASM_2.STP-1/WS_ME_TALL_ASSY_ASM_1_ASM_1.STP-1/WS_TOP_COVER_ASM_ASM_1_ASM_1.STP-1/AN_TOP_COVER_1_2.STP-1;Elec_Box_Assem-1/NUC13ANH_NUC13LCH-1/NUC13ANH_NUC13LCH.STP-1/00_WS_ALL_ASM_CHECK_ASM_1_ASM_1.STP-1/WS_ME_PLACEMENT_ASM_ASM_1_ASM_2.STP-1/WS_ME_TALL_ASSY_ASM_1_ASM_1.STP-1/WS_TALL_MID_FRAME_ASM_ASM_1_ASM_1.STP-1/WS_TALL_MID_FRAME_NEW_1_1.STP-1;Elec_Box_Assem-1/SolidStateRelay-1;Elec_Box_Assem-1/100AFuse-1;Elec_Box_Assem-1/Box_Back_Wall-1;Rear_Wall_Sheath_Outer-2;Rear_Wall_Sheath_Outer-1;Shell & Averaging System-1/MirrorArm Bracket Assembly-2/MirrorL bracket-1;Shell & Averaging System-1/Chasis C-Channel Lip-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Core Mount Front Plate-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Core Mount Front Plate-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-9;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-10;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-8;Shell & Averaging System-1/Averaging System Outer Plate V3-1;Shell & Averaging System-1/Diff V5 Assem-2/Diff Box V5-1;Shell & Averaging System-1/Averaging System Outer Plate V3-2;Shell & Averaging System-1/picatinny95mm-1;Shell & Averaging System-1/picatinny95mm-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-3;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-4;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-2;Shell & Averaging System-1/6436K14 .5 Shaft Collar-2;Shell & Averaging System-1/6436K14 .5 Shaft Collar-4;Shell & Averaging System-1/6436K14 .5 Shaft Collar-3;Shell & Averaging System-1/6436K14 .5 Shaft Collar-1;Rear_Wall_Sheath_Inner-1;Shell & Averaging System-1/8896T69 SS U Bolt 1.375in-1;Shell & Averaging System-1/8896T69 SS U Bolt 1.375in-2;Shell & Averaging System-1/Averaging Shaft V3-2;Shell & Averaging System-1/Averaging Shaft V3-3;Shell & Averaging System-1/Diff V5 Assem-2/2342K186_Bearing .5 shaft sealed-3;Shell & Averaging System-1/2342K186_Bearing .5 shaft sealed-1;Shell & Averaging System-1/2342K186_Bearing .5 shaft sealed-2,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, -right_suspension_member,0.0011302,-0.12483,0.029359,0,0,0,1.7681,0.0021448,-1.4957E-06,-2.5225E-08,0.0068473,0.00021191,0.0058417,0,0,0,0,0,0,package://core_rover_description/meshes/right_suspension_member.STL,1,1,1,1,0,0,0,0,0,0,package://core_rover_description/meshes/right_suspension_member.STL,,A- POST BOND SUSPENSION (1)-4/P- CENTER LEG [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- CORE ATTACHMENT [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- AXIS PLATE [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-2;A- POST BOND SUSPENSION (1)-4/P- SIDE LEGS [POST BOND SUSPENSION] (1)-2;Gearbox-Wheel Assembly - MIRROR-6/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-6/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-6/Bonding Tube-1;Gearbox-Wheel Assembly - MIRROR-6/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-6/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/Gearbox Casing-1;A- POST BOND SUSPENSION (1)-4/P- SIDE LEGS [POST BOND SUSPENSION] (1)-1;Gearbox-Wheel Assembly - MIRROR-7/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-7/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/Bonding Tube-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube 2-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/94645A111_High-Strength Steel Nylon-Insert Locknut-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/96144A239_Fine-Thread Alloy Steel Socket Head Screw-1,Origin_right_suspension_manual,right_suspension_axis,right_suspension_joint,revolute,-0.33067,0.028531,-0.15443,1.5708,0,-1.5708,base_link,0,0,-1,0,0,-0.38,0.38,,,,,,,, -br_wheel,-0.0476013497459569,-1.09801088221673E-08,6.12845485470359E-09,0,0,0,5.74175792756056,0.115468209215025,7.19767266741869E-10,-2.90603405999934E-10,0.0647068246341468,7.16669744358495E-07,0.0632464587169257,0,0,0,0,0,0,package://core_rover_description/meshes/br_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/br_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-7/Updated Wheel Starboard-1,Origin_br_wheel_axis,br_wheel_axis,br_wheel_axis,continuous,-0.41838,-0.17155,0.12984,0.52965,-1.5708,0,right_suspension_member,1,0,0,,,,,,,,,,,, -fr_wheel,-0.0476013497450763,-1.09822306249008E-08,6.12913009234717E-09,0,0,0,5.74175792767292,0.115468209216444,7.20424942594475E-10,-2.90800382125705E-10,0.0647068246345494,7.16670201096685E-07,0.063246458718483,0,0,0,0,0,0,package://core_rover_description/meshes/fr_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/fr_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-6/Updated Wheel Starboard-1,Origin_fr_wheel_joint,fr_wheel_axis,fr_wheel_joint,continuous,0.41838,-0.17155,0.12984,1.5769,-1.5708,0,right_suspension_member,1,0,0,,,,,,,,,,,, -averaging_bar,5.12266309124314E-10,0.0103345512865068,6.28647148226413E-10,0,0,0,0.872230516841863,0.000102234478668288,1.26173058927933E-11,-1.00509715989169E-11,0.0236921798518964,1.54032135551904E-11,0.0236577000709469,0,0,0,0,0,0,package://core_rover_description/meshes/averaging_bar.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/averaging_bar.STL,,A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Old Averaging Bar (Modified)-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/92981A220_Alloy Steel Shoulder Screws-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/92981A220_Alloy Steel Shoulder Screws-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube-1,Origin_averaging_bar_axis,averaging_bar_axis,averaging_bar_axis,revolute,0,-0.23362,-0.0508,0,-0.0060774,-3.1416,base_link,0,-1,0,0,0,-0.38,0.38,,,,,,,, -left_suspension_member,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,package://core_rover_description/meshes/left_suspension_member.STL,1,1,1,1,0,0,0,0,0,0,package://core_rover_description/meshes/left_suspension_member.STL,,A- POST BOND SUSPENSION (1)-3/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- CENTER LEG [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-2;A- POST BOND SUSPENSION (1)-3/P- SIDE LEGS [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- SIDE LEGS [POST BOND SUSPENSION] (1)-2;Gearbox-Wheel Assembly - MIRROR-2/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-2/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-2/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-1/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-1/Bonding Tube-1;Gearbox-Wheel Assembly - MIRROR-2/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-2/Bonding Tube-1;A- POST BOND SUSPENSION (1)-3/P- CORE ATTACHMENT [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- AXIS PLATE [POST BOND SUSPENSION] (1)-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube 2-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/96144A239_Fine-Thread Alloy Steel Socket Head Screw-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/94645A111_High-Strength Steel Nylon-Insert Locknut-2,Origin_left_suspension_manual,left_suspension_axis,left_suspension_joint,revolute,0.33067,0.028531,-0.15443,1.5708,0,1.5708,base_link,0,0,-1,0,0,-0.38,0.38,,,,,,,, -bl_wheel,-0.0476013497470983,-1.09827822947217E-08,6.12940226352165E-09,0,0,0,5.7417579274106,0.115468209213072,7.20585760708907E-10,-2.90859312873504E-10,0.0647068246335877,7.16669141063303E-07,0.0632464587148044,0,0,0,0,0,0,package://core_rover_description/meshes/bl_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/bl_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-1/Updated Wheel Starboard-1,Origin_bl_wheel_joint,bl_wheel_axis,bl_wheel_joint,continuous,0.41838,-0.17155,0.12984,1.5769,-1.5708,0,left_suspension_member,1,0,0,,,,,,,,,,,, -fl_wheel,-0.0476013497448114,-1.09827921201955E-08,6.12933048760311E-09,0,0,0,5.74175792770551,0.115468209216877,7.20541990109492E-10,-2.90874836866816E-10,0.0647068246346634,7.16670369639572E-07,0.06324645871897,0,0,0,0,0,0,package://core_rover_description/meshes/fl_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/fl_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-2/Updated Wheel Starboard-1,Origin_fl_wheel_joint,fl_wheel_axis,fl_wheel_joint,continuous,-0.418377874454344,-0.171553199039643,0.129841324042317,0.529654981264331,-1.5707963267949,0,left_suspension_member,1,0,0,,,,,,,,,,,,