From d0e6749c2354e96f6df11f43dbd1a89db97f60bf Mon Sep 17 00:00:00 2001
From: jieshoudaxue <1641395022@qq.com>
Date: Thu, 20 Jul 2023 11:12:08 +0800
Subject: [PATCH] [feat] add mbot xacro

---
 mbot_description/config/mbot_xacro.rviz       | 197 ++++++++++++++++++
 mbot_description/doc/mbot.gv                  |  29 +++
 mbot_description/doc/mbot.pdf                 | Bin 0 -> 11925 bytes
 .../launch/display_mbot_xacro.launch          |  18 ++
 mbot_description/urdf/mbot_base.xacro         | 132 ++++++++++++
 mbot_description/urdf/sensor/camera.xacro     |  22 ++
 mbot_description/urdf/sensor/kinect.xacro     |  21 ++
 mbot_description/urdf/sensor/laser.xacro      |  21 ++
 8 files changed, 440 insertions(+)
 create mode 100644 mbot_description/config/mbot_xacro.rviz
 create mode 100644 mbot_description/doc/mbot.gv
 create mode 100644 mbot_description/doc/mbot.pdf
 create mode 100644 mbot_description/launch/display_mbot_xacro.launch
 create mode 100644 mbot_description/urdf/mbot_base.xacro
 create mode 100644 mbot_description/urdf/sensor/camera.xacro
 create mode 100644 mbot_description/urdf/sensor/kinect.xacro
 create mode 100644 mbot_description/urdf/sensor/laser.xacro

diff --git a/mbot_description/config/mbot_xacro.rviz b/mbot_description/config/mbot_xacro.rviz
new file mode 100644
index 0000000..88e6d75
--- /dev/null
+++ b/mbot_description/config/mbot_xacro.rviz
@@ -0,0 +1,197 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 490
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        back_caster_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_caster_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        kinect_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        stage_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: false
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.6701574325561523
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.36039790511131287
+      Target Frame: <Fixed Frame>
+      Yaw: 2.130397081375122
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 781
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000273fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000273000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000273fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000273000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000003540000027300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 60
+  Y: 60
diff --git a/mbot_description/doc/mbot.gv b/mbot_description/doc/mbot.gv
new file mode 100644
index 0000000..0642fed
--- /dev/null
+++ b/mbot_description/doc/mbot.gv
@@ -0,0 +1,29 @@
+digraph G {
+node [shape=box];
+"base_link" [label="base_link"];
+"back_caster_link" [label="back_caster_link"];
+"camera_link" [label="camera_link"];
+"front_caster_link" [label="front_caster_link"];
+"kinect_link" [label="kinect_link"];
+"left_wheel_link" [label="left_wheel_link"];
+"right_wheel_link" [label="right_wheel_link"];
+"stage_link" [label="stage_link"];
+"laser_link" [label="laser_link"];
+node [shape=ellipse, color=blue, fontcolor=blue];
+"base_link" -> "back_caster_joint" [label="xyz: -0.18 0 -0.095 \nrpy: 0 -0 0"]
+"back_caster_joint" -> "back_caster_link"
+"base_link" -> "camera_joint" [label="xyz: -0.17 0 0.1 \nrpy: 0 -0 0"]
+"camera_joint" -> "camera_link"
+"base_link" -> "front_caster_joint" [label="xyz: 0.18 0 -0.095 \nrpy: 0 -0 0"]
+"front_caster_joint" -> "front_caster_link"
+"base_link" -> "kinect_joint" [label="xyz: 0.15 0 0.11 \nrpy: 0 -0 0"]
+"kinect_joint" -> "kinect_link"
+"base_link" -> "left_wheel_joint" [label="xyz: 0 0.19 -0.05 \nrpy: 0 -0 0"]
+"left_wheel_joint" -> "left_wheel_link"
+"base_link" -> "right_wheel_joint" [label="xyz: 0 -0.19 -0.05 \nrpy: 0 -0 0"]
+"right_wheel_joint" -> "right_wheel_link"
+"base_link" -> "stage_joint" [label="xyz: 0 0 0.14 \nrpy: 0 -0 0"]
+"stage_joint" -> "stage_link"
+"stage_link" -> "laser_joint" [label="xyz: 0 0 0.085 \nrpy: 0 -0 0"]
+"laser_joint" -> "laser_link"
+}
diff --git a/mbot_description/doc/mbot.pdf b/mbot_description/doc/mbot.pdf
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/mbot_description/launch/display_mbot_xacro.launch b/mbot_description/launch/display_mbot_xacro.launch
new file mode 100644
index 0000000..d55bfa3
--- /dev/null
+++ b/mbot_description/launch/display_mbot_xacro.launch
@@ -0,0 +1,18 @@
+<launch>
+	<arg name="model" default="$(find xacro)/xacro '$(find mbot_description)/urdf/mbot_base.xacro'" />
+
+	<param name="robot_description" command="$(arg model)" />
+
+	<!-- 设置GUI参数，显示关节控制插件 -->
+	<param name="use_gui" value="true"/>
+
+	<!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+
+	<!-- 运行robot_state_publisher节点，发布tf  -->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+	<!-- 运行rviz可视化界面 -->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_xacro.rviz" required="true" />
+
+</launch>
\ No newline at end of file
diff --git a/mbot_description/urdf/mbot_base.xacro b/mbot_description/urdf/mbot_base.xacro
new file mode 100644
index 0000000..5d0e405
--- /dev/null
+++ b/mbot_description/urdf/mbot_base.xacro
@@ -0,0 +1,132 @@
+<?xml version="1.0" ?>
+<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:property name="M_PI" value="3.1415926" />
+
+  <xacro:property name="wheel_joint_x" value="0" />
+  <xacro:property name="wheel_joint_y" value="0.19" />
+  <xacro:property name="wheel_joint_z" value="0.05" />
+
+  <xacro:property name="wheel_length" value="0.06" />
+  <xacro:property name="wheel_radius" value="0.06" />
+
+  <xacro:property name="caster_joint_x" value="0.18" />
+  <xacro:property name="caster_joint_y" value="0" />
+  <xacro:property name="caster_joint_z" value="0.095" />  
+
+  <xacro:property name="caster_radius" value="0.015" />
+
+  <xacro:property name="base_length" value="0.16" />
+  <xacro:property name="base_radius" value="0.2" />
+
+  <xacro:property name="stage_length" value="0.12" />
+  <xacro:property name="stage_radius" value="0.1" />
+
+  <xacro:property name="camera_joint_x" value="0.17" />
+  <xacro:property name="camera_joint_y" value="0" />
+  <xacro:property name="camera_joint_z" value="0.1" />  
+
+  <xacro:property name="kinect_joint_x" value="0.15" />
+  <xacro:property name="kinect_joint_y" value="0" />
+  <xacro:property name="kinect_joint_z" value="0.11" />  
+
+  <xacro:property name="laser_joint_x" value="0" />
+  <xacro:property name="laser_joint_y" value="0" />
+  <xacro:property name="laser_joint_z" value="0.085" />  
+
+  <material name="white">
+    <color rgba="1 1 1 0.9"/>
+  </material>
+  <material name="red">
+    <color rgba="1 0 0 1"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+
+  <xacro:macro name="base_stage">
+    <link name="base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <cylinder length="${base_length}" radius="${base_radius}"/>
+        </geometry>
+        <material name="red" />
+      </visual>
+    </link>
+
+    <joint name="stage_joint" type="fixed">
+      <origin xyz="0 0 ${(base_length + stage_length)/2}" rpy="0 0 0" />
+      <parent link="base_link"/>
+      <child link="stage_link" />    
+    </joint>
+
+    <link name="stage_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <cylinder length="${stage_length}" radius="${stage_radius}"/>
+        </geometry>
+        <material name="red" />
+      </visual>
+    </link>
+  </xacro:macro>
+
+  <xacro:macro name="wheel" params="prefix reflect">
+    <joint name="${prefix}_wheel_joint" type="continuous">
+      <origin xyz="${wheel_joint_x} ${reflect*wheel_joint_y} ${-wheel_joint_z}" rpy="0 0 0" />
+      <parent link="base_link" />
+      <child link="${prefix}_wheel_link" />
+      <axis xyz="0 1 0" />
+    </joint>
+
+    <link name="${prefix}_wheel_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="${M_PI/2} 0 0"/>
+        <geometry>
+          <cylinder length="${wheel_length}" radius="${wheel_radius}"/>
+        </geometry>
+        <material name="white" />
+      </visual>
+    </link>
+  </xacro:macro>
+
+  <xacro:macro name="caster" params="prefix reflect">
+    <joint name="${prefix}_caster_joint" type="continuous">
+      <origin xyz="${reflect*caster_joint_x} ${caster_joint_y} ${-caster_joint_z}" rpy="0 0 0" />
+      <parent link="base_link"/>
+      <child link="${prefix}_caster_link" />
+      <axis xyz="0 1 0" />
+    </joint>
+
+    <link name="${prefix}_caster_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <sphere radius="${caster_radius}" />
+        </geometry>
+        <material name="white" />
+      </visual>
+    </link>
+  </xacro:macro>
+
+
+  <xacro:base_stage />  
+
+  <xacro:wheel prefix="left"  reflect="1"/>  
+  <xacro:wheel prefix="right"  reflect="-1"/>  
+
+  <xacro:caster prefix="front"  reflect="1"/>  
+  <xacro:caster prefix="back"  reflect="-1"/>  
+
+  <xacro:include filename="$(find mbot_description)/urdf/sensor/camera.xacro" />
+  <xacro:usb_camera joint_x="${camera_joint_x}" joint_y="${camera_joint_y}" joint_z="${camera_joint_z}"/>  
+
+  <xacro:include filename="$(find mbot_description)/urdf/sensor/kinect.xacro" />
+  <xacro:kinect joint_x="${kinect_joint_x}" joint_y="${kinect_joint_y}" joint_z="${kinect_joint_z}"/>  
+
+  <xacro:include filename="$(find mbot_description)/urdf/sensor/laser.xacro" />
+  <xacro:laser joint_x="${laser_joint_x}" joint_y="${laser_joint_y}" joint_z="${laser_joint_z}"/>  
+
+</robot>
diff --git a/mbot_description/urdf/sensor/camera.xacro b/mbot_description/urdf/sensor/camera.xacro
new file mode 100644
index 0000000..a174617
--- /dev/null
+++ b/mbot_description/urdf/sensor/camera.xacro
@@ -0,0 +1,22 @@
+<?xml version="1.0" ?>
+<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="usb_camera" params="joint_x joint_y joint_z">
+    <joint name="camera_joint" type="fixed">
+      <origin xyz="${-joint_x} ${joint_y} ${joint_z}" rpy="0 0 0" />
+      <parent link="base_link"/>
+      <child link="camera_link" />    
+    </joint>
+
+    <link name="camera_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.03 0.04 0.04" />
+        </geometry>
+        <material name="grey" />
+      </visual>
+    </link>
+  </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/mbot_description/urdf/sensor/kinect.xacro b/mbot_description/urdf/sensor/kinect.xacro
new file mode 100644
index 0000000..63addd0
--- /dev/null
+++ b/mbot_description/urdf/sensor/kinect.xacro
@@ -0,0 +1,21 @@
+<?xml version="1.0" ?>
+<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="kinect" params="joint_x joint_y joint_z">
+    <joint name="kinect_joint" type="fixed">
+      <origin xyz="${joint_x} ${joint_y} ${joint_z}" rpy="0 0 0" />
+      <parent link="base_link"/>
+      <child link="kinect_link" />    
+    </joint>
+
+    <link name="kinect_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 1.5708" />
+        <geometry>
+          <mesh filename="package://mbot_description/meshes/kinect.dae" />
+        </geometry>
+      </visual>
+    </link>
+  </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/mbot_description/urdf/sensor/laser.xacro b/mbot_description/urdf/sensor/laser.xacro
new file mode 100644
index 0000000..1c680a0
--- /dev/null
+++ b/mbot_description/urdf/sensor/laser.xacro
@@ -0,0 +1,21 @@
+<?xml version="1.0" ?>
+<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="laser" params="joint_x joint_y joint_z">
+    <joint name="laser_joint" type="fixed">
+      <origin xyz="${joint_x} ${joint_y} ${joint_z}" rpy="0 0 0" />
+      <parent link="stage_link"/>
+      <child link="laser_link" />    
+    </joint>
+
+    <link name="laser_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <cylinder length="0.05" radius="0.05"/>
+        </geometry>
+        <material name="grey"/>
+      </visual>
+    </link>
+  </xacro:macro>
+</robot>
\ No newline at end of file