How do I get the collision model right in xacro robot urdf?

asked 2023-05-31 09:18:55 -0500

whoi_engineer gravatar image

I have a .dae file that I transformed from a .stl file that serves as the mesh in my xacro file. However, I tried to use the same .dae file in the collision section, but when I launch gazebo the robot just spins out of control.

I've been trying to follow the project DAVE tutorial for uav's but there is a lot of information missing.

    <?xml version="1.0"?>
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     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
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     distributed under the License is distributed on an "AS IS" BASIS,
     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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<robot name="test" xmlns:xacro="" >

  <xacro:arg name="debug" default="0"/>
  <xacro:arg name="namespace" default="test"/>

  <!-- "Dummy" base link to eliminate root link inertia warning --> 
  <link name="$(arg namespace)/base_link"/>

  <link name="$(arg namespace)/test_link">

      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="34.622"/>
        ixx="47.76" ixy="0.0" ixz="0.0"
        iyy="47.73" iyz="0.14"
      <origin xyz="0 0 0" rpy="1.5708 0 0"/>
        <mesh filename="package://test_description/meshes/robot_wedge_mast.dae" scale="0.02 0.02 0.02"/>
      <origin xyz="0 0 0" rpy="0 0 1.5708"/>
        <mesh filename="package://test_description/meshes/robot_wedge_mast.dae" scale="0.02 0.02 0.02"/>

  <!-- Attach test_link to the dummy base link -->
  <joint name="$(arg namespace)/test_base_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>  <!-- X-fwd, Y-lft, Z-up (ick!) -->
    <parent link="$(arg namespace)/base_link"/>
    <child link="$(arg namespace)/test_link"/>

   <plugin name="gazebo_ros_control" filename="">
     <robotNamespace>/$(arg namespace)</robotNamespace>
     <robotParam>/$(arg namespace)/test</robotParam>

 <!-- Define thrusters for propulsion -->
 <xacro:property name="prop_mesh_file" value="file://$(find test_description)/meshes/robotics_propeller.dae"/>
 <!-- Common values, colors, converstion, standard shapes/inertia etc.
      Dependency for the thruster_snippets.xacro-->
 <xacro:include filename="$(find uuv_descriptions)/urdf/common.urdf.xacro"/>
 <!-- Various thruster models -->
 <xacro:include filename="$(find uuv_gazebo_ros_plugins)/urdf/thruster_snippets.xacro"/>
 <!-- Substitute the ECA A9 prop mesh for the larger uuv_descriptions one -->
 <!--<xacro:property name="prop_mesh_file" value="file://$(find eca_a9_description)/mesh/eca_a9_propeller.dae"/>-->

  <!-- Thruster joint and link snippet
       Wrapper for the the thruster_module_first_order_basic_fcn_macro
       defined in uuv_gazebo_ros_plugins/urdf/thruster_snippet.
       Uses the "thruster_cf_basic_macro"
         1) Basic curve
       Input: x
       Output: thrust
       Function: thrust = rotorConstant * x * abs(x)
  <xacro:macro name="thruster_macro"
               params="thruster_id *origin">
        namespace="$(arg namespace)"
        scale = "0.02 0.02 0.02"
        rotor_constant="0.0001">  <!-- This is a guess for now (~1/3 RexROV) -->
      <xacro:insert_block name="origin"/>

  <xacro:thruster_macro thruster_id="0">
    <origin ...
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