Add payload.

diff --git a/urdf/crane.urdf.xacro b/urdf/crane.urdf.xacro
index 9056d53..1abc6c0 100644 (file)
--- a/urdf/crane.urdf.xacro
+++ b/urdf/crane.urdf.xacro
@@ -23,6 +23,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"  name="crane">
 
        <xacro:arg name="ignition" default="false"/>
+       <xacro:arg name="payload" default="payload.xacro"/>
 
        <xacro:include filename="material.xacro"/>      
        <xacro:include filename="base.xacro"/>
@@ -54,6 +55,8 @@
                <limit lower="${-base_height}" upper="0"  effort="100.0" velocity="100.0"/>
        </xacro:hook>
 
+       <xacro:include filename="$(arg payload)"/>
+
        <xacro:include filename="ros2_control.xacro"/>
        <xacro:include filename="gazebo_control.xacro"/>
 </robot>

diff --git a/urdf/payload.xacro b/urdf/payload.xacro
new file mode 100644 (file)
index 0000000..21204c7
--- /dev/null
+++ b/urdf/payload.xacro
@@ -0,0 +1,40 @@
+<?xml version="1.0" ?>
+<!--******************************************************************************
+                              Crane Description
+                              Payload  Description
+          Copyright (C) 2024 Walter Fetter Lages <w.fetter@ieee.org>
+
+        This program is free software: you can redistribute it and/or modify
+        it under the terms of the GNU General Public License as published by
+        the Free Software Foundation, either version 3 of the License, or
+        (at your option) any later version.
+
+        This program is distributed in the hope that it will be useful, but
+        WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+        Geneal Public License for more details.
+
+        You should have received a copy of the GNU General Public License
+        along with this program.  If not, see
+        <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+       <xacro:arg name="ignition" default="false"/>
+
+       <xacro:include filename="prismatic.xacro"/>
+
+       <xacro:property name="payload_radius" value="5e-2"/>
+       <xacro:property name="payload_length" value="10e-2"/>
+
+       <xacro:property name="payload_mass" value="5"/>
+
+       <xacro:cylinder name="payload"
+                       length="${payload_length}"
+                       radius="${payload_radius}"
+                       mass="${payload_mass}"
+                       parent="hook_link">
+               <origin xyz="0 0 ${-payload_length/2}"/>
+       </xacro:cylinder>
+</robot>

diff --git a/urdf/prismatic.xacro b/urdf/prismatic.xacro
index d0554ce..8ff2ddc 100644 (file)
--- a/urdf/prismatic.xacro
+++ b/urdf/prismatic.xacro
@@ -38,8 +38,8 @@
                                </geometry>
                        </collision>
                        <inertial>
-                               <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
-                               <mass value="${mass}" />
+                               <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+                               <mass value="${mass}"/>
                                <inertia ixx="${mass/12*(length*length+height*height)}"
                                        ixy="0.0" ixz="0.0"
                                        iyy="${mass/12*(width*width+height*height)}"
@@ -77,8 +77,8 @@
                                </geometry>
                        </collision>
                        <inertial>
-                               <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
-                               <mass value="${mass}" />
+                               <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+                               <mass value="${mass}"/>
                                <inertia ixx="${mass/12*(length*length+height*height)}"
                                        ixy="0.0" ixz="0.0"
                                        iyy="${mass/12*(width*width+height*height)}"
@@ -97,4 +97,41 @@
                        <material>Gazebo/Grey</material>
                </gazebo>
        </xacro:macro>
+
+       <xacro:macro name="cylinder" params="name length radius mass parent *origin">
+               <link name="${name}_link">
+                       <visual>
+                               <geometry>
+                                       <cylinder length="${length}" radius="${radius}"/>
+                               </geometry>
+                               <material name="red">
+                                       <cylinder rgba="0.7 0.0 0.0 1"/>
+                               </material>
+                       </visual>
+                       <collision>
+                               <geometry>
+                                       <box length="${length}" radius="${radius}"/>
+                               </geometry>
+                       </collision>
+                       <inertial>
+                               <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+                               <mass value="${mass}"/>
+                               <inertia ixx="${mass/12*(3*radius*radius+length*length)}"
+                                       ixy="0.0" ixz="0.0"
+                                       iyy="${mass/12*(3*radius*radius+length*length)}"
+                                       iyz="0.0"
+                                       izz="${mass/12*radius*radius}"/>
+                       </inertial>
+               </link>
+
+               <joint name="${name}_joint" type="fixed">
+                       <xacro:insert_block name="origin"/>
+                       <parent link="${parent}" />
+                       <child link="${name}_link" />
+               </joint>
+
+               <gazebo reference="${name}_link">
+                       <material>Gazebo/Red</material>
+               </gazebo>
+       </xacro:macro>
 </robot>