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Updated meshes to add antennas and E-stop buttons #26

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merged 1 commit into from
Apr 30, 2024
Merged

Updated meshes to add antennas and E-stop buttons #26

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Binary file added warthog_description/meshes/antenna_estop.stl
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Binary file added warthog_description/meshes/antenna_left.stl
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Binary file added warthog_description/meshes/antenna_right.stl
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Binary file added warthog_description/meshes/buttons.stl
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Binary file added warthog_description/meshes/fenders-collision.stl
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Binary file modified warthog_description/meshes/fenders.stl
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Binary file added warthog_description/meshes/light-collision.stl
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100 changes: 97 additions & 3 deletions warthog_description/urdf/warthog.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -225,7 +225,13 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 ${side*PI/2}"/>
<geometry>
<mesh filename="package://warthog_description/meshes/fenders.stl" />
<mesh filename="package://warthog_description/meshes/fenders-collision.stl" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 ${-side*0.02} 0.52" rpy="0 0 ${side*PI/2}"/>
<geometry>
<box size="0.28 0.95 0.024"/>
</geometry>
</collision>
</link>
Expand All @@ -238,14 +244,95 @@
<dynamics damping="100" friction="0.5"/>
</joint>

<link name="${prefix}_diff_unit_buttons_link">
<visual>
<geometry>
<mesh filename="package://warthog_description/meshes/buttons.stl"/>
</geometry>
<material name="red"><color rgba="0.9 0.0 0.0 1.0" /></material>
</visual>
<collision>
<origin xyz="0.0395 0.4315 0.520" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.0205" length="0.014"/>
<material name="red"><color rgba="0.9 0.0 0.0 1.0" /></material>
</geometry>
</collision>
<collision>
<origin xyz="0.0395 -0.4315 0.520" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.0205" length="0.014"/>
<material name="red"><color rgba="0.9 0.0 0.0 1.0" /></material>
</geometry>
</collision>
</link>
<joint name="${prefix}_diff_unit_buttons" type="fixed">
<origin xyz="0 0 0" rpy="0 0 ${side*PI/2}"/>
<parent link="${prefix}_diff_unit_link"/>
<child link="${prefix}_diff_unit_buttons_link"/>
</joint>

<!-- Wi-Fi and Controller Antenna -->
<link name="${prefix}_diff_unit_antenna_link">
<visual>
<material name="light_grey" />
<geometry>
<mesh filename="package://warthog_description/meshes/antenna_${prefix}.stl"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.096 ${side*0.431} 0.6635" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.01697" length="0.301"/>
</geometry>
<material name="light_grey" />
</collision>
</link>
<joint name="${prefix}_diff_unit_antenna_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 ${side*PI/2}"/>
<parent link="${prefix}_diff_unit_link" />
<child link="${prefix}_diff_unit_antenna_link" />
</joint>

<!-- E-stop Antenna -->
<xacro:if value="${side == -1}">
<link name="${prefix}_diff_unit_estop_antenna_link">
<visual>
<material name="light_grey"/>
<geometry>
<mesh filename="package://warthog_description/meshes/antenna_estop.stl"/>
</geometry>
</visual>
<collision>
<material name="light_grey"/>
<origin xyz="-0.096 0.4315 0.572" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.0103" length="0.118"/>
</geometry>
</collision>
</link>
<joint name="${prefix}_diff_unit_estop_antenna_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 ${side*PI/2}"/>
<parent link="${prefix}_diff_unit_link"/>
<child link="${prefix}_diff_unit_estop_antenna_link"/>
</joint>
</xacro:if>

<link name="${prefix}_diff_unit_headlight_link">
<visual>
<origin xyz="0 ${side*-0.0244} 0" rpy="0 0 0"/>
<origin xyz="0 ${side*-0.029} 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://warthog_description/meshes/light.stl" />
</geometry>
<material name="white"><color rgba="0.9 0.9 0.9 1.0" /></material>
</visual>
<collision>
<origin xyz="0 ${side*-0.022} 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://warthog_description/meshes/light-collision.stl" />
</geometry>
<material name="white"><color rgba="0.9 0.9 0.9 1.0" /></material>
</collision>
</link>
<joint name="${prefix}_diff_unit_headlight_joint" type="fixed">
<parent link="${prefix}_diff_unit_link" />
Expand All @@ -265,12 +352,19 @@

<link name="${prefix}_diff_unit_taillight_link">
<visual>
<origin xyz="0 ${side*-0.0244} 0" rpy="0 0 ${side*PI}"/>
<origin xyz="0 ${side*-0.029} 0" rpy="0 0 ${side*PI}"/>
<geometry>
<mesh filename="package://warthog_description/meshes/light.stl" />
</geometry>
<material name="red"><color rgba="0.9 0.0 0.0 1.0" /></material>
</visual>
<collision>
<origin xyz="0 ${side*-0.022} 0" rpy="0 0 ${side*PI}"/>
<geometry>
<mesh filename="package://warthog_description/meshes/light-collision.stl" />
</geometry>
<material name="red"><color rgba="0.9 0.0 0.0 1.0" /></material>
</collision>
</link>
<joint name="${prefix}_diff_unit_taillight_joint" type="fixed">
<parent link="${prefix}_diff_unit_link" />
Expand Down
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