From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 2 Jun 2019 01:04:34 +0000 (-0300)
Subject: Add tower and sonars to twil_description.
X-Git-Tag: petryTCC~8
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=5a8033ed3ac7c1ef971afcb8d18f5fd213cd2f22;p=twil.git

Add tower and sonars to twil_description.
---

diff --git a/twil_description/cad/polaroid600.scad b/twil_description/cad/polaroid600.scad
new file mode 100644
index 0000000..292cef1
--- /dev/null
+++ b/twil_description/cad/polaroid600.scad
@@ -0,0 +1,12 @@
+rotate([0,90,0]) scale([0.0000254,0.0000254,0.0000254])
+{
+	difference()
+	{
+		color("DarkOrange") cylinder(h=328-159,d=1513,center=true);
+		for(x=[-1500/2:100:1500/2], y=[-1500/2:100:1500/2])
+			translate([x,y,0]) cylinder(h=328-159,d=30,center=true);
+	}
+	color("Black") translate([0,0,-(328-159)/2-159/2]) cylinder(h=159,d=1690,center=true);
+	color("Silver") translate([0,0,-(328-159)/2-159-128/2]) cylinder(h=128,d=1580,center=true);
+
+}
\ No newline at end of file
diff --git a/twil_description/cad/sonar_box.scad b/twil_description/cad/sonar_box.scad
new file mode 100644
index 0000000..2316b42
--- /dev/null
+++ b/twil_description/cad/sonar_box.scad
@@ -0,0 +1,11 @@
+rotate([0,90,0]) scale([0.001,0.001,0.001]) translate([0,0,40/2]) color("black") difference()
+{
+	cube([85,70,40],center=true);
+	translate([0,0,12/2]) cube([79,70,40-12],center=true);
+	translate([0,0,39/2]) cube([82,70,40-39],center=true);
+	translate([0,0,2/2]) cube([79,65,40-2],center=true);
+	
+	translate([0,70/2,0]) cube([17,2.5,40],center=true);
+	translate([0,-70/2,0]) cube([17,2.5,40],center=true);
+	
+}
diff --git a/twil_description/cad/sonar_cover.scad b/twil_description/cad/sonar_cover.scad
new file mode 100644
index 0000000..898ab0a
--- /dev/null
+++ b/twil_description/cad/sonar_cover.scad
@@ -0,0 +1,13 @@
+rotate([0,90,0]) scale([0.001,0.001,0.001])
+translate([0,0,28/2+12])
+color("lightgray")
+{
+	difference()
+	{
+		cube([82,70,28],center=true);
+		translate([0,0,-0.7]) cube([82,66.6,28-0.7],center=true);
+		cylinder(h=28,d=1513*25.4/1000,center=true);
+	}
+	translate([0,70/2-1,-28/2-8/2]) cube([16,(70-66.6)/2,8],center=true);
+	translate([0,-70/2+1,-28/2-8/2]) cube([16,(70-66.6)/2,8],center=true);
+}
diff --git a/twil_description/cad/step_motor.scad b/twil_description/cad/step_motor.scad
new file mode 100644
index 0000000..7fc4c57
--- /dev/null
+++ b/twil_description/cad/step_motor.scad
@@ -0,0 +1,19 @@
+scale([0.001,0.001,0.001])
+{
+	color("black") cylinder(d=57.12,h=50.16,center=false);
+	color("silver")
+	{
+		translate([0,0,50.16]) 
+		{
+			difference()
+			{
+				cube([57.12,57.12,5],center=true);
+				translate([23.52,23.52,0]) cylinder(d=5,h=5,center=true);
+				translate([23.52,-23.52,0]) cylinder(d=5,h=5,center=true);
+				translate([-23.52,23.52,0]) cylinder(d=5,h=5,center=true);
+				translate([-23.52,-23.52,0]) cylinder(d=5,h=5,center=true);
+			}
+			cylinder(d=2.54*2,h=15,center=false);
+		}
+	}
+}
\ No newline at end of file
diff --git a/twil_description/cad/tower.scad b/twil_description/cad/tower.scad
new file mode 100644
index 0000000..02acb71
--- /dev/null
+++ b/twil_description/cad/tower.scad
@@ -0,0 +1,22 @@
+rotate([0,0,90]) scale([0.001,0.001,0.001]) color("silver")
+{
+    cylinder(h=130,d=9.35,center=false);
+	translate([0,0,130]) cylinder(h=876-130,d=10,center=false);
+    translate([0,0,876-25/2]) difference()
+	{
+		cube([400,50,25],center=true);
+
+		cube([400,50-4,25-4],center=true);
+		
+		cylinder(h=25,d=25.4/2,center=true);
+		
+		translate([25+150/2,0,0]) cube([150,5,25],center=true);
+		translate([25,0,0]) cylinder(h=25,d=5,center=true);
+		translate([25+150,0,0]) cylinder(h=25,d=5,center=true);
+		
+		translate([-(25+150/2),0,0]) cube([150,5,25],center=true);
+		translate([-25,0,0]) cylinder(h=25,d=5,center=true);
+		translate([-(25+150),0,0]) cylinder(h=25,d=5,center=true);
+
+	}
+}
diff --git a/twil_description/meshes/polaroid600.stl b/twil_description/meshes/polaroid600.stl
new file mode 100644
index 0000000..09fd549
Binary files /dev/null and b/twil_description/meshes/polaroid600.stl differ
diff --git a/twil_description/meshes/sonar_box.stl b/twil_description/meshes/sonar_box.stl
new file mode 100644
index 0000000..25293b5
Binary files /dev/null and b/twil_description/meshes/sonar_box.stl differ
diff --git a/twil_description/meshes/sonar_cover.stl b/twil_description/meshes/sonar_cover.stl
new file mode 100644
index 0000000..6d88604
Binary files /dev/null and b/twil_description/meshes/sonar_cover.stl differ
diff --git a/twil_description/meshes/step_motor.stl b/twil_description/meshes/step_motor.stl
new file mode 100644
index 0000000..30bfdfb
Binary files /dev/null and b/twil_description/meshes/step_motor.stl differ
diff --git a/twil_description/meshes/tower.stl b/twil_description/meshes/tower.stl
new file mode 100644
index 0000000..baf2fec
Binary files /dev/null and b/twil_description/meshes/tower.stl differ
diff --git a/twil_description/xacro/chassis.urdf.xacro b/twil_description/xacro/chassis.urdf.xacro
index dc9e36c..fe3adc6 100644
--- a/twil_description/xacro/chassis.urdf.xacro
+++ b/twil_description/xacro/chassis.urdf.xacro
@@ -35,7 +35,7 @@
   </joint>
 
   <gazebo reference="${name}">
-    <material>Gazebo/Gold</material>
+    <material>Gazebo/White</material>
   </gazebo>
 
   </xacro:macro>
diff --git a/twil_description/xacro/sonar.urdf.xacro b/twil_description/xacro/sonar.urdf.xacro
new file mode 100644
index 0000000..10c47ae
--- /dev/null
+++ b/twil_description/xacro/sonar.urdf.xacro
@@ -0,0 +1,111 @@
+<?xml version="1.0" ?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="ABS_DENSITY" value="1200" />
+
+  <xacro:macro name="sonar" params="name parent *origin">
+
+  <link name="${name}_box">
+    <inertial>
+      <origin xyz="0.011687 0 0" rpy="0 0 0" />
+      <mass value="${3.109e-5*ABS_DENSITY}" />
+      <inertia ixx="${5.08964e-8*ABS_DENSITY}" ixy="0" ixz="0" iyy="${4.03098e-8*ABS_DENSITY}" iyz="0" izz="${1.97915e-8*ABS_DENSITY}" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://twil_description/meshes/sonar_box.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://twil_description/meshes/sonar_box.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="${name}_box_joint" type="fixed">
+    <xacro:insert_block name="origin" />
+    <parent link="${parent}" />
+    <child link="${name}_box" />
+  </joint>
+
+  <gazebo reference="${name}_box">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  
+    <link name="${name}_cover">
+    <inertial>
+      <origin xyz="0.030163 0 0" rpy="0 0 0" />
+      <mass value="${1.27668e-5*ABS_DENSITY}" />
+      <inertia ixx="${1.91036e-8*ABS_DENSITY}" ixy="0" ixz="0" iyy="${8.73999e-9*ABS_DENSITY}" iyz="0" izz="${1.28721e-8*ABS_DENSITY}" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://twil_description/meshes/sonar_cover.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="0.5 0.5 0.5 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://twil_description/meshes/sonar_cover.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="${name}_cover_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="${name}_box" />
+    <child link="${name}_cover" />
+  </joint>
+
+  <gazebo reference="${name}_cover">
+    <material>Gazebo/Gray</material>
+  </gazebo>
+
+  <link name="${name}_sensor">
+    <inertial>
+      <origin xyz="0.003870 0 0" rpy="0 0 0" />
+      <mass value="${1.44829e-5*ABS_DENSITY}" />
+      <inertia ixx="${2.98565e-9*ABS_DENSITY}" ixy="0" ixz="0" iyy="${1.64409e-9*ABS_DENSITY}" iyz="0" izz="${1.64419e-9*ABS_DENSITY}" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://twil_description/meshes/polaroid600.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0.75686 0.14510 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://twil_description/meshes/polaroid600.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="${name}_sensor_joint" type="fixed">
+    <origin xyz="${0.028+0.012} 0 0" rpy="0 0 0" />
+    <parent link="${name}_cover" />
+    <child link="${name}_sensor" />
+  </joint>
+
+  <gazebo reference="${name}_sensor">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+
+  </xacro:macro>
+
+</robot>
diff --git a/twil_description/xacro/step_motor.urdf.xacro b/twil_description/xacro/step_motor.urdf.xacro
new file mode 100644
index 0000000..e4f1324
--- /dev/null
+++ b/twil_description/xacro/step_motor.urdf.xacro
@@ -0,0 +1,44 @@
+<?xml version="1.0" ?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+
+  <xacro:macro name="step_motor" params="name parent *origin">
+
+   <link name="${name}">
+    <inertial>
+      <origin xyz="0 0 0.026946" rpy="0 0 0" />
+      <mass value="0.5" />
+      <inertia ixx="224.8E-6" ixy="0" ixz="0" iyy="224.8E-6" iyz="0" izz="209.4E-6" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://twil_description/meshes/step_motor.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://twil_description/meshes/step_motor.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="${name}_motor_joint" type="fixed">
+    <xacro:insert_block name="origin" />
+    <parent link="${parent}" />
+    <child link="${name}" />
+  </joint>
+
+  <gazebo reference="${name}">
+    <material>Gazebo/Black</material>
+  </gazebo>
+   
+  </xacro:macro>
+
+</robot>
diff --git a/twil_description/xacro/tower.urdf.xacro b/twil_description/xacro/tower.urdf.xacro
new file mode 100644
index 0000000..b724cd6
--- /dev/null
+++ b/twil_description/xacro/tower.urdf.xacro
@@ -0,0 +1,57 @@
+<?xml version="1.0" ?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+
+  <xacro:macro name="tower" params="name parent *origin">
+
+  <link name="${name}">
+    <inertial>
+      <origin xyz="0 0 0.704262" rpy="0 0 0" />
+      <!-- Supposing aluminium with a density of 2700 kg/m^3 -->
+      <mass value="0.4664" />
+      <inertia ixx="0.0342" ixy="0" ixz="0" iyy="0.0304" iyz="0" izz="0.0040" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://twil_description/meshes/tower.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://twil_description/meshes/tower.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="${name}_joint" type="continuous">
+    <xacro:insert_block name="origin" />
+    <parent link="${parent}" />
+    <child link="${name}" />
+    <axis xyz="0 0 1" />
+    <limit effort="100.0" velocity="${1.8*M_PI/180*1000}" />
+  </joint>
+
+  <transmission name="${name}_transmission">
+    <type>transmission_interface/SimpleTransmission"</type>
+    <joint name="${name}_joint">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="${name}_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <gazebo reference="${name}">
+    <material>Gazebo/White</material>
+  </gazebo>
+    
+  </xacro:macro>
+
+</robot>
diff --git a/twil_description/xacro/twil.urdf.xacro b/twil_description/xacro/twil.urdf.xacro
index 00e592c..e97e71a 100644
--- a/twil_description/xacro/twil.urdf.xacro
+++ b/twil_description/xacro/twil.urdf.xacro
@@ -12,6 +12,9 @@
   <xacro:include filename="$(find twil_description)/xacro/battery_bosch_12v.urdf.xacro" />
   <xacro:include filename="$(find twil_description)/xacro/cpu.urdf.xacro" />
   <xacro:include filename="$(find twil_description)/xacro/eurocard.urdf.xacro" />
+  <xacro:include filename="$(find twil_description)/xacro/tower.urdf.xacro" />
+  <xacro:include filename="$(find twil_description)/xacro/step_motor.urdf.xacro" />
+  <xacro:include filename="$(find twil_description)/xacro/sonar.urdf.xacro" />
 
   <link name="twil_origin" />
 
@@ -58,6 +61,22 @@
   <xacro:caster_wheel name="front_caster_wheel" parent="front_caster_base">
     <origin xyz="-0.04 0 0" rpy="0 0 0" />
   </xacro:caster_wheel>
+  
+  <xacro:tower name="tower" parent="chassis">
+    <origin xyz="0.1875 0 0.306" rpy="0 0 0" />
+  </xacro:tower>
+  
+  <xacro:step_motor name="tower_motor" parent="chassis">
+    <origin xyz="0.1875 0 0.24684" rpy="0 0 0" />
+  </xacro:step_motor>
+  
+  <xacro:sonar name="top_sonar" parent="tower">
+    <origin xyz="0.005 0 ${0.876-0.04-0.04}" rpy="0 0 0" />
+  </xacro:sonar>
+  
+  <xacro:sonar name="bottom_sonar" parent="tower">
+    <origin xyz="0.005 0 ${0.130+0.04+0.02}" rpy="0 0 0" />
+  </xacro:sonar>
 
   <!--xacro:battery_bosch_12v name="battery" parent="chassis">
     <origin xyz="-0.15 0.0 ${0.0015+0.0875}" rpy="0.0 0.0 ${M_PI/2}" />
@@ -84,7 +103,7 @@
   </xacro:eurocard>
 
   <xacro:cpu name="cpu" parent="chassis">
-    <origin xyz="0 0.0 ${0.0015+0.3+0.003+0.127+0.003+0.17}" rpy="0.0 0.0 0.0" />
+    <origin xyz="0 0.0 ${0.0015+0.3+0.003+0.127+0.003+0.17}" rpy="0.0 0.0 ${M_PI/2}" />
   </xacro:cpu>
 
   <link name="chassis_top" />