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+ GNU GENERAL PUBLIC LICENSE
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+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ 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 General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
--- /dev/null
+<?xml version="1.0"?>\r
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">\r
+\r
+ <xacro:arg name="imu" default="true"/>
+ <xacro:arg name="magnetometer" default="true"/>
+\r
+ <xacro:macro name="bno055_shuttle" params="name">\r
+\r
+ <xacro:property name="base_width" value="0.04707"/>\r
+ <xacro:property name="base_length" value="0.05334"/>\r
+ <xacro:property name="base_height" value="0.00163"/>\r
+ <xacro:property name="base_mass" value="0.01"/>\r
+ \r
+ <xacro:property name="shuttle_width" value="0.02032"/>\r
+ <!--xacro:property name="shuttle_length" value="0.04318"/-->\r
+ <xacro:property name="shuttle_length" value="0.0490"/>\r
+ <xacro:property name="shuttle_height" value="0.00163"/>\r
+ <xacro:property name="shuttle_offset" value="${-(shuttle_length-socket_length-0.00254)/2}"/>\r
+ <xacro:property name="shuttle_mass" value="0.01"/>\r
+ \r
+ <xacro:property name="socket_width" value="${0.00064*2}"/>\r
+ <!--xacro:property name="socket_length" value="${0.03302+0.00254}"/-->\r
+ <xacro:property name="socket_length" value="${16*0.00254+0.00254}"/>\r
+ <xacro:property name="socket_height" value="${0.01025-0.00163}"/>\r
+ <xacro:property name="socket_base_width" value="0.01524"/>\r
+ <xacro:property name="socket_x_offset" value="${-0.0007}"/>\r
+ <xacro:property name="socket_y_offset" value="${0.00254/2}"/>\r
+ <xacro:property name="socket_mass" value="0.01"/>\r
+ \r
+ <xacro:property name="measurement_y_offset" value="${0.029-shuttle_length/2}"/>\r
+ <xacro:property name="measurement_z_offset" value="${0.001130/2}"/>\r
+\r
+ <material name="fiber">\r
+ <color rgba="0.75 0.75 0.25 1.0"/>
+ </material>\r
+\r
+ <material name="green">\r
+ <color rgba="0.0 0.6 0.0 1.0"/>
+ </material>\r
+\r
+ <material name="black">\r
+ <color rgba="0.0 0.0 0.0 1.0"/>
+ </material>\r
+\r
+ <link name="${name}_origin"/>\r
+ \r
+ <link name="${name}_base_link">\r
+ <visual>\r
+ <origin xyz="-0.1315 0.0865 0.0"/>\r
+ <geometry>\r
+ <!--box size="${base_width} ${base_length} ${base_height}"/-->\r
+ <mesh filename="package://bno055_shuttle_description/meshes/shuttle2ftdi.stl"/>
+ </geometry>\r
+ <material name="fiber"/>
+ </visual>\r
+ <collision>\r
+ <geometry>\r
+ <box size="${base_width} ${base_length} ${base_height}"/>\r
+ </geometry>\r
+ </collision>\r
+ <inertial>
+ <mass value="${base_mass}"/>
+ <inertia ixx="${base_mass/12*(base_length*base_length+base_height*base_height)}" ixy="0.0" ixz="0.0"\r
+ iyy="${base_mass/12*(base_width*base_width+base_height*base_height)}" iyz="0.0"\r
+ izz="${base_mass/12*(base_width*base_width+base_length*base_length)}"/>
+ </inertial>\r
+ </link>\r
+ \r
+ <joint name="${name}_base_joint" type="fixed">\r
+ <parent link="${name}_origin"/>\r
+ <child link="${name}_base_link"/>\r
+ <origin xyz="0.0 0.0 ${base_height/2.0}"/>\r
+ </joint>\r
+ \r
+ <link name="${name}_socket_link"> \r
+ <visual>\r
+ <origin xyz="${socket_base_width/2} 0.0 0.0"/>\r
+ <geometry>\r
+ <box size="${socket_width} ${socket_length} ${socket_height}"/>\r
+ </geometry>
+ <material name="black"/>
+ </visual>\r
+ <visual>\r
+ <origin xyz="${-socket_base_width/2} 0.0 0.0"/>\r
+ <geometry>\r
+ <box size="${socket_width} ${socket_length} ${socket_height}"/>\r
+ </geometry>
+ <material name="black"/>
+ </visual>\r
+ <collision>\r
+ <origin xyz="${socket_base_width/2} 0.0 0.0"/>\r
+ <geometry>\r
+ <box size="${socket_width} ${socket_length} ${socket_height}"/>\r
+ </geometry>
+ </collision>\r
+ <collision>\r
+ <origin xyz="${-socket_base_width/2} 0.0 0.0"/>\r
+ <geometry>\r
+ <box size="${socket_width} ${socket_length} ${socket_height}"/>\r
+ </geometry>
+ </collision>\r
+ <inertial>
+ <mass value="${socket_mass}"/>
+ <inertia ixx="${socket_mass/12*(socket_length*socket_length+socket_height*socket_height)}" ixy="0.0" ixz="0.0"\r
+ iyy="${socket_mass/12*(socket_base_width*socket_base_width+socket_height*socket_height)}" iyz="0.0"\r
+ izz="${socket_mass/12*(socket_base_width*socket_base_width+socket_length*socket_length)}"/>
+ </inertial>\r
+ </link>\r
+\r
+ <joint name="${name}_socket_joint" type="fixed">\r
+ <parent link="${name}_base_link"/>\r
+ <child link="${name}_socket_link"/>\r
+ <origin xyz="${socket_x_offset} ${socket_y_offset} ${base_height/2+socket_height/2}"/>\r
+ </joint>\r
+\r
+ <link name="${name}_link">\r
+ <visual>\r
+ <geometry>\r
+ <box size="${shuttle_width} ${shuttle_length} ${shuttle_height}"/>\r
+ </geometry>\r
+ <material name="green"/>
+ </visual>\r
+ <collision>
+ <geometry>\r
+ <box size="${shuttle_width} ${shuttle_length} ${shuttle_height}"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="${shuttle_mass}"/>
+ <inertia ixx="${shuttle_mass/12*(shuttle_length*shuttle_length+shuttle_height*shuttle_height)}" ixy="0.0" ixz="0.0"\r
+ iyy="${shuttle_mass/12*(shuttle_width*shuttle_width+shuttle_height*shuttle_height)}" iyz="0.0"\r
+ izz="${shuttle_mass/12*(shuttle_width*shuttle_width+shuttle_length*shuttle_length)}"/>
+ </inertial>
+ </link>\r
+\r
+ <joint name="${name}_joint" type="fixed">\r
+ <parent link="${name}_socket_link"/>\r
+ <child link="${name}_link"/>\r
+ <origin xyz="0.0 ${shuttle_offset} ${socket_height/2+shuttle_height/2}"/>\r
+ </joint>\r
+ \r
+ <link name="${name}_measurement_frame"/>\r
+\r
+ <joint name="${name}_measurement_joint" type="fixed">\r
+ <parent link="${name}_link"/>\r
+ <child link="${name}_measurement_frame"/>\r
+ <origin xyz="0.0 ${measurement_y_offset} ${measurement_z_offset}" rpy="0.0 0.0 ${pi/2}"/>\r
+ </joint>\r
+\r
+ <xacro:if value="$(arg imu)">
+ <!-- IMU sensor -->
+ <gazebo reference="${name}_measurement_frame">
+ <gravity>true</gravity>
+ <sensor name="${name}_imu" type="imu">
+ <always_on>true</always_on>
+ <visualize>true</visualize>
+ <update_rate>100</update_rate>
+ <topic>imu/data</topic>\r
+ <gz_frame_id>${name}_measurement_frame</gz_frame_id>
+ <imu>
+ <orientation_reference_frame>
+ <localization>ENU</localization>
+ </orientation_reference_frame>
+ <angular_velocity>
+ <x>
+ <noise type="gaussian">
+ <mean>0</mean>
+ <stddev>${0.014*pi/180*sqrt(100)}</stddev>
+ <bias_mean>0</bias_mean>
+ <bias_stddev>${1*pi/180}</bias_stddev>
+ </noise>
+ </x>
+ <y>
+ <noise type="gaussian">
+ <mean>0</mean>
+ <stddev>${0.014*pi/180*sqrt(100)}</stddev>
+ <bias_mean>0</bias_mean>
+ <bias_stddev>${1*pi/180}</bias_stddev>
+ </noise>
+ </y>
+ <z>
+ <noise type="gaussian">
+ <mean>0</mean>
+ <stddev>${0.014*pi/180*sqrt(100)}</stddev>
+ <bias_mean>0</bias_mean>
+ <bias_stddev>${1*pi/180}</bias_stddev>
+ </noise>
+ </z>
+ </angular_velocity>
+ <linear_acceleration>
+ <x>
+ <noise type="gaussian">
+ <mean>0</mean>
+ <stddev>${150e-6*9.81*sqrt(100)}</stddev>
+ <bias_mean>0</bias_mean>
+ <bias_stddev>${80e-3*9.81}</bias_stddev>
+ </noise>
+ </x>
+ <y>
+ <noise type="gaussian">
+ <mean>0</mean>
+ <stddev>${150e-6*9.81*sqrt(100)}</stddev>
+ <bias_mean>0</bias_mean>
+ <bias_stddev>${80e-3*9.81}</bias_stddev>
+ </noise>
+ </y>
+ <z>
+ <noise type="gaussian">
+ <mean>0</mean>
+ <stddev>${150e-6*9.81*sqrt(100)}</stddev>
+ <bias_mean>0</bias_mean>
+ <bias_stddev>${80e-3*9.81}</bias_stddev>
+ </noise>
+ </z>
+ </linear_acceleration>
+ <enable_orientation>true</enable_orientation>
+ </imu>
+ </sensor>\r
+ </gazebo>\r
+ \r
+ <gazebo>
+ <!-- Move to world to avoid [GUI] [Err] [Conversions.cc:1181] ? -->
+ <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
+ </gazebo>
+ </xacro:if>
+
+ <xacro:if value="$(arg magnetometer)">
+ <!-- Magnetometer sensor -->
+ <gazebo reference="${name}_measurement_frame">
+ <sensor name="${name}_magnetometer" type="magnetometer">
+ <always_on>true</always_on>
+ <visualize>true</visualize>
+ <update_rate>20</update_rate>
+ <topic>imu/mag</topic>\r
+ <gz_frame_id>${name}_measurement_frame</gz_frame_id>
+ <magnetometer>
+ <x>
+ <noise type="gaussian_quantized">
+ <mean>0</mean>
+ <stddev>0.3e-6</stddev>
+ <precision>0.3e-6</precision>
+ </noise>
+ </x>
+ <y>
+ <noise type="gaussian_quantized">
+ <mean>0</mean>
+ <stddev>0.3e-6</stddev>
+ <precision>0.3e-6</precision>
+ </noise>
+ </y>
+ <z>
+ <noise type="gaussian_quantized">
+ <mean>0</mean>
+ <stddev>0.3e-6</stddev>
+ <precision>0.3e-6</precision>
+ </noise>
+ </z>
+ </magnetometer>
+ </sensor>\r
+ </gazebo>\r
+ \r
+ <gazebo>
+ <!-- Move to world to avoid [GUI] [Err] [Conversions.cc:1181] ? -->
+ <plugin filename="gz-sim-magnetometer-system" name="gz::sim::systems::Magnetometer"/>
+ </gazebo>
+ </xacro:if>
+
+ </xacro:macro>\r
+</robot>\r
projects / bno055_shuttle_description.git / commitdiff