forked from xtdrone/XTDrone
66 lines
2.3 KiB
XML
66 lines
2.3 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="wam-v-two-engines">
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<!-- Macro for inserting an engine with its propeller. -->
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<xacro:macro name="engine" params="prefix position:='0 0 0' orientation:='0 0 0'">
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<link name="${prefix}_engine_link">
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<visual>
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<geometry>
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<mesh filename="package://wamv_description/models/engine/mesh/engine.dae"/>
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</geometry>
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</visual>
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<collision name="${prefix}_engine_vertical_axis_collision">
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<origin xyz="-0.16 0 -0.24" rpy="0 0 0" />
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<geometry>
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<box size="0.2 0.15 0.83" />
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</geometry>
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</collision>
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<collision name="${prefix}_engine_rear_end_collision">
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<origin xyz="-0.34 0 0.12" rpy="0 0 0" />
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<geometry>
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<box size="0.12 0.15 0.12" />
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</geometry>
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</collision>
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<inertial>
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<mass value="15"/>
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<inertia ixx="0.889245" ixy="0.0" ixz="0.0" iyy="0.911125" iyz="0.0" izz="0.078125"/>
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</inertial>
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</link>
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<link name="${prefix}_propeller_link">
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<visual>
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<geometry>
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<mesh filename="package://wamv_description/models/propeller/mesh/propeller.dae"/>
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</geometry>
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</visual>
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<collision name="${prefix}_propeller_collision">
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<origin xyz="-0.08 0 0" rpy="0 1.57 0" />
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<geometry>
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<cylinder length="0.18" radius="0.24" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.5"/>
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<inertia ixx="0.008545" ixy="0.0" ixz="0.0" iyy="0.008545" iyz="0.0" izz="0.0144"/>
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</inertial>
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</link>
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<joint name="${prefix}_chasis_engine_joint" type="revolute">
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<axis xyz="0 0 1"/>
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<limit lower="${-pi}" upper="${pi}" effort="10" velocity="10"/>
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<origin xyz="${position}" rpy="${orientation}"/>
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<parent link="base_link"/>
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<child link="${prefix}_engine_link"/>
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</joint>
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<joint name="${prefix}_engine_propeller_joint" type="continuous">
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<axis rpy="0 0 0" xyz="1 0 0"/>
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<parent link="${prefix}_engine_link"/>
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<child link="${prefix}_propeller_link"/>
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<origin rpy="0 0 0" xyz="-0.278156 0 -0.509371"/>
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<limit effort="100" velocity="100" />
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<dynamics friction="0.05" damping="0.05" />
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</joint>
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</xacro:macro>
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</robot>
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