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Mecanum wheels demo #683

Merged
merged 18 commits into from
Mar 24, 2021
Merged

Mecanum wheels demo #683

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17df362
Initial diff_drive_mecanum example world
scpeters Mar 14, 2021
48010ca
Set friction parameters for mecanum wheel model
scpeters Mar 14, 2021
f0b9962
debug: box visuals for wheels to see rotations
scpeters Mar 14, 2021
9f30a09
Duplicate diff_drive system as mecanum_drive
scpeters Mar 19, 2021
7ce81bd
Use ignition as xml namespace
scpeters Mar 22, 2021
349714b
Merge branch 'mecanum_wheels_demo' of github.com:scpeters/ign-gazebo …
scpeters Mar 22, 2021
a270912
Rename DiffDrive.* to MecanumDrive.*
scpeters Mar 22, 2021
3653e41
Update MecanumDrive kinematics
scpeters Mar 23, 2021
f51eaf9
Disable odometry for now
scpeters Mar 23, 2021
095e0d5
MecanumDrive: update documentation
scpeters Mar 23, 2021
0925a04
fix codecheck
scpeters Mar 23, 2021
aab4ac6
Merge branch 'main' into mecanum_wheels_demo
scpeters Mar 23, 2021
9bbcceb
Use ignition::math::SpeedLimiter
scpeters Mar 23, 2021
53792df
Use sphere visuals for wheels
scpeters Mar 23, 2021
49eb8cb
MecanumDrive: remove odometry
scpeters Mar 24, 2021
15416d0
Fix xmlns and update comments
scpeters Mar 24, 2021
bcfb881
rename skid_steer_mecanum example world
scpeters Mar 24, 2021
15dea76
Merge branch 'main' into mecanum_wheels_demo
scpeters Mar 24, 2021
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,7 @@ set(IGN_RENDERING_VER ${ignition-rendering5_VERSION_MAJOR})

#--------------------------------------
# Find ignition-math
ign_find_package(ignition-math6 REQUIRED COMPONENTS eigen3 VERSION 6.6)
ign_find_package(ignition-math6 REQUIRED COMPONENTS eigen3 VERSION 6.8)
set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})

#--------------------------------------
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362 changes: 362 additions & 0 deletions examples/worlds/diff_drive_mecanum.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,362 @@
<?xml version="1.0" ?>
<!--
Ignition Gazebo skid steer differential drive plugin demo
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Try sending commands:

ign topic -t "/model/vehicle_blue/cmd_vel" -m ignition.msgs.Twist -p "linear: {x: 0.5}, angular: {z: 0.05}"

Listen to odometry:

ign topic -e -t /model/vehicle_blue/odometry

-->
<sdf version="1.6">
<world name="diff_drive">

<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="ignition-gazebo-physics-system"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="ignition-gazebo-user-commands-system"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="ignition-gazebo-scene-broadcaster-system"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>50</mu>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name='vehicle_blue' xmlns:gazebo="http://gazebosim.org/schema">
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<pose>0 2 0.325 0 -0 0</pose>

<link name='chassis'>
<pose>-0.151427 -0 0.175 0 -0 0</pose>
<inertial>
<mass>1.14395</mass>
<inertia>
<ixx>0.126164</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.416519</iyy>
<iyz>0</iyz>
<izz>0.481014</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<box>
<size>2.01142 1 0.568726</size>
</box>
</geometry>
<material>
<ambient>0.5 0.5 1.0 1</ambient>
<diffuse>0.5 0.5 1.0 1</diffuse>
<specular>0.0 0.0 1.0 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<box>
<size>2.01142 1 0.568726</size>
</box>
</geometry>
</collision>
</link>

<link name='front_left_wheel'>
<pose>0.554283 0.625029 -0.025 -1.5707 0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<!--sphere>
<radius>0.3</radius>
</sphere-->
<box><size>0.6 0.6 0.6</size></box>
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<!--mesh>
<uri>https://raw.githubusercontent.com/robomaster-oss/rmoss_ign_resources/main/models/rmua19_standard_robot/meshes/wheel_left.dae</uri>
<scale>2.4 2.4 2.4</scale>
</mesh-->
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>0.0</mu2>
<fdir1 ignition:expressed_in="chassis">1 -1 0</fdir1>
</ode>
</friction>
</surface>
</collision>
</link>

<link name='rear_left_wheel'>
<pose>-0.957138 0.625029 -0.025 -1.5707 0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<!--sphere>
<radius>0.3</radius>
</sphere-->
<box><size>0.6 0.6 0.6</size></box>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>0.0</mu2>
<fdir1 ignition:expressed_in="chassis">1 1 0</fdir1>
</ode>
</friction>
</surface>
</collision>
</link>

<link name='front_right_wheel'>
<pose>0.554282 -0.625029 -0.025 -1.5707 0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<!--sphere>
<radius>0.3</radius>
</sphere-->
<box><size>0.6 0.6 0.6</size></box>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>0.0</mu2>
<fdir1 ignition:expressed_in="chassis">1 1 0</fdir1>
</ode>
</friction>
</surface>
</collision>
</link>

<link name='rear_right_wheel'>
<pose>-0.957138 -0.625029 -0.025 -1.5707 0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<!--sphere>
<radius>0.3</radius>
</sphere-->
<box><size>0.6 0.6 0.6</size></box>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>0.0</mu2>
<fdir1 ignition:expressed_in="chassis">1 -1 0</fdir1>
</ode>
</friction>
</surface>
</collision>
</link>


<joint name='front_left_wheel_joint' type='revolute'>
<parent>chassis</parent>
<child>front_left_wheel</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
</limit>
</axis>
</joint>

<joint name='front_right_wheel_joint' type='revolute'>
<parent>chassis</parent>
<child>front_right_wheel</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
</limit>
</axis>
</joint>

<joint name='rear_left_wheel_joint' type='revolute'>
<parent>chassis</parent>
<child>rear_left_wheel</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
</limit>
</axis>
</joint>

<joint name='rear_right_wheel_joint' type='revolute'>
<parent>chassis</parent>
<child>rear_right_wheel</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
</limit>
</axis>
</joint>

<plugin
filename="ignition-gazebo-diff-drive-system"
name="ignition::gazebo::systems::DiffDrive">
<left_joint>front_left_wheel_joint</left_joint>
<left_joint>rear_left_wheel_joint</left_joint>
<right_joint>front_right_wheel_joint</right_joint>
<right_joint>rear_right_wheel_joint</right_joint>
<wheel_separation>1.25</wheel_separation>
<wheel_radius>0.3</wheel_radius>
</plugin>

</model>

</world>
</sdf>
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