Add description files for potential sim fix

tue-robotics · Jul 18, 2024 · 5e19444 · 5e19444
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commit 5e19444
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diff --git a/hsrb_description/robots/hsrb1s.urdf.xacro b/hsrb_description/robots/hsrb1s.urdf.xacro
@@ -0,0 +1,63 @@
+<?xml version="1.0"?>
+<robot name="hsrb"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <!-- common xacro -->
+    <xacro:include filename="$(find hsrb_description)/urdf/common.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/materials.urdf.xacro" />
+
+    <!-- links and joints -->
+    <xacro:include filename="$(find hsrb_description)/urdf/base_v0/base.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/torso_v0/torso.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/head_v0/head.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/arm_v0/arm.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/wrist_v0/wrist.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/hand_v0/hand.urdf.xacro" />
+
+    <xacro:arg name="personal_name" default=""/>
+
+    <!-- constant -->
+    <xacro:property name="personal_name" value="$(arg personal_name)"/>
+    <xacro:property name="robot_name" value="hsrb"/>
+
+    <!-- create robot -->
+    <xacro:hsrb_base prefix="base" robot_namespace="${robot_name}"/>
+
+    <xacro:hsrb_torso prefix="torso" parent="base_link" mimic_joint="arm_lift_joint">
+        <origin xyz="0.0 0.0 0.752" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_torso>
+
+    <xacro:hsrb_head prefix="head" parent="torso_lift_link">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_head>
+
+    <xacro:hsrb_arm prefix="arm" parent="base_link">
+        <origin xyz="0.0 0.0 0.340" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_arm>
+
+    <xacro:hsrb_wrist prefix="wrist" parent="arm_roll_link" robot_namespace="${robot_name}">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_wrist>
+
+    <xacro:hsrb_hand prefix="hand" parent="wrist_roll_link">
+        <origin xyz="0.012 0.0 0.1405" rpy="0.0 0.0 ${pi}"/>
+    </xacro:hsrb_hand>
+
+    <gazebo>
+        <plugin name="${robot_name}_ros_control" filename="lib${robot_name}_gazebo_ros_control.so">
+            <robotNamespace>${robot_name}</robotNamespace>
+            <legacyModeNS>false</legacyModeNS>
+        </plugin>
+
+        <plugin name="${robot_name}_p3d_ground_truth" filename="libgazebo_ros_p3d.so">
+            <robotNamespace>${personal_name}/${robot_name}</robotNamespace>
+            <bodyName>base_footprint</bodyName>
+            <topicName>odom_ground_truth</topicName>
+            <frameName>map</frameName>
+            <updateRate>30</updateRate>
+        </plugin>
+    </gazebo>
+</robot>
diff --git a/hsrb_description/robots/hsrb2s.urdf.xacro b/hsrb_description/robots/hsrb2s.urdf.xacro
@@ -0,0 +1,63 @@
+<?xml version="1.0"?>
+<robot name="hsrb"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <!-- common xacro -->
+    <xacro:include filename="$(find hsrb_description)/urdf/common.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/materials.urdf.xacro" />
+
+    <!-- links and joints -->
+    <xacro:include filename="$(find hsrb_description)/urdf/base_v1/base.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/torso_v0/torso.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/head_v0/head.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/arm_v0/arm.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/wrist_v0/wrist.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/hand_v0/hand.urdf.xacro" />
+
+    <xacro:arg name="personal_name" default=""/>
+
+    <!-- constant -->
+    <xacro:property name="personal_name" value="$(arg personal_name)"/>
+    <xacro:property name="robot_name" value="hsrb"/>
+
+    <!-- create robot -->
+    <xacro:hsrb_base prefix="base" robot_namespace="${robot_name}"/>
+
+    <xacro:hsrb_torso prefix="torso" parent="base_link" mimic_joint="arm_lift_joint">
+        <origin xyz="0.0 0.0 0.752" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_torso>
+
+    <xacro:hsrb_head prefix="head" parent="torso_lift_link">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_head>
+
+    <xacro:hsrb_arm prefix="arm" parent="base_link">
+        <origin xyz="0.0 0.0 0.340" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_arm>
+
+    <xacro:hsrb_wrist prefix="wrist" parent="arm_roll_link" robot_namespace="${robot_name}">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_wrist>
+
+    <xacro:hsrb_hand prefix="hand" parent="wrist_roll_link">
+        <origin xyz="0.012 0.0 0.1405" rpy="0.0 0.0 ${pi}"/>
+    </xacro:hsrb_hand>
+
+    <gazebo>
+        <plugin name="${robot_name}_ros_control" filename="lib${robot_name}_gazebo_ros_control.so">
+            <robotNamespace>${personal_name}/${robot_name}</robotNamespace>
+            <legacyModeNS>false</legacyModeNS>
+        </plugin>
+
+        <plugin name="${robot_name}_p3d_ground_truth" filename="libgazebo_ros_p3d.so">
+            <robotNamespace>${personal_name}/${robot_name}</robotNamespace>
+            <bodyName>base_footprint</bodyName>
+            <topicName>odom_ground_truth</topicName>
+            <frameName>map</frameName>
+            <updateRate>30</updateRate>
+        </plugin>
+    </gazebo>
+</robot>
diff --git a/hsrb_description/robots/hsrb3s.urdf.xacro b/hsrb_description/robots/hsrb3s.urdf.xacro
@@ -0,0 +1,63 @@
+<?xml version="1.0"?>
+<robot name="hsrb"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <!-- common xacro -->
+    <xacro:include filename="$(find hsrb_description)/urdf/common.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/materials.urdf.xacro" />
+
+    <!-- links and joints -->
+    <xacro:include filename="$(find hsrb_description)/urdf/base_v1/base.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/torso_v0/torso.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/head_v1/head.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/arm_v0/arm.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/wrist_v0/wrist.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/hand_v0/hand.urdf.xacro" />
+
+    <xacro:arg name="personal_name" default=""/>
+
+    <!-- constant -->
+    <xacro:property name="personal_name" value="$(arg personal_name)"/>
+    <xacro:property name="robot_name" value="hsrb"/>
+
+    <!-- create robot -->
+    <xacro:hsrb_base prefix="base" robot_namespace="${robot_name}"/>
+
+    <xacro:hsrb_torso prefix="torso" parent="base_link" mimic_joint="arm_lift_joint">
+        <origin xyz="0.0 0.0 0.752" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_torso>
+
+    <xacro:hsrb_head prefix="head" parent="torso_lift_link">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_head>
+
+    <xacro:hsrb_arm prefix="arm" parent="base_link">
+        <origin xyz="0.0 0.0 0.340" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_arm>
+
+    <xacro:hsrb_wrist prefix="wrist" parent="arm_roll_link" robot_namespace="${robot_name}">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_wrist>
+
+    <xacro:hsrb_hand prefix="hand" parent="wrist_roll_link">
+        <origin xyz="0.012 0.0 0.1405" rpy="0.0 0.0 ${pi}"/>
+    </xacro:hsrb_hand>
+
+    <gazebo>
+        <plugin name="${robot_name}_ros_control" filename="lib${robot_name}_gazebo_ros_control.so">
+            <robotNamespace>${personal_name}/${robot_name}</robotNamespace>
+            <legacyModeNS>false</legacyModeNS>
+        </plugin>
+
+        <plugin name="${robot_name}_p3d_ground_truth" filename="libgazebo_ros_p3d.so">
+            <robotNamespace>${personal_name}/${robot_name}</robotNamespace>
+            <bodyName>base_footprint</bodyName>
+            <topicName>odom_ground_truth</topicName>
+            <frameName>map</frameName>
+            <updateRate>30</updateRate>
+        </plugin>
+    </gazebo>
+</robot>
diff --git a/hsrb_description/robots/hsrb4s.urdf.xacro b/hsrb_description/robots/hsrb4s.urdf.xacro
@@ -0,0 +1,66 @@
+<?xml version="1.0"?>
+<robot name="hsrb"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <!-- common xacro -->
+    <xacro:include filename="$(find hsrb_description)/urdf/common.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/materials.urdf.xacro" />
+
+    <!-- links and joints -->
+    <xacro:include filename="$(find hero_bringup)/hsrb_description/urdf/base_v2/base.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/torso_v0/torso.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/head_v2/head.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/arm_v0/arm.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/wrist_v0/wrist.urdf.xacro" />
+    <xacro:include filename="$(find hsrb_description)/urdf/hand_v0/hand.urdf.xacro" />
+
+    <xacro:arg name="personal_name" default=""/>
+    <xacro:arg name="ground_truth_xyz_offset" default="0.0\ 0.0\ 0.0"/>
+    <xacro:arg name="ground_truth_rpy_offset" default="0.0\ 0.0\ 0.0"/>
+
+    <!-- constant -->
+    <xacro:property name="personal_name" value="$(arg personal_name)"/>
+    <xacro:property name="robot_name" value="hsrb"/>
+
+    <!-- create robot -->
+    <xacro:hsrb_base prefix="base" personal_name="${personal_name}" robot_namespace="${robot_name}" robot_name="${robot_name}"/>
+
+    <xacro:hsrb_torso prefix="torso" parent="base_link" mimic_joint="arm_lift_joint">
+        <origin xyz="0.0 0.0 0.752" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_torso>
+
+    <xacro:hsrb_head prefix="head" parent="torso_lift_link">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_head>
+
+    <xacro:hsrb_arm prefix="arm" parent="base_link">
+        <origin xyz="0.0 0.0 0.340" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_arm>
+
+    <xacro:hsrb_wrist prefix="wrist" parent="arm_roll_link" robot_namespace="${robot_name}">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+    </xacro:hsrb_wrist>
+
+    <xacro:hsrb_hand prefix="hand" parent="wrist_roll_link">
+        <origin xyz="0.012 0.0 0.1405" rpy="0.0 0.0 ${pi}"/>
+    </xacro:hsrb_hand>
+
+    <gazebo>
+        <plugin name="${robot_name}_ros_control" filename="lib${robot_name}_gazebo_ros_control.so">
+            <robotNamespace>${personal_name}/${robot_name}</robotNamespace>
+            <legacyModeNS>false</legacyModeNS>
+        </plugin>
+        <plugin name="${robot_name}_p3d_ground_truth" filename="lib${robot_name}_gazebo_ros_p3d.so">
+            <robotNamespace>${personal_name}/${robot_name}</robotNamespace>
+            <bodyName>base_footprint</bodyName>
+            <topicName>odom_ground_truth</topicName>
+            <frameName>map</frameName>
+            <updateRate>30</updateRate>
+	    <xyzOffset>$(arg ground_truth_xyz_offset)</xyzOffset>
+	    <rpyOffset>$(arg ground_truth_rpy_offset)</rpyOffset>
+        </plugin>
+    </gazebo>
+</robot>
diff --git a/hsrb_description/robots/upload_hsrb.launch b/hsrb_description/robots/upload_hsrb.launch
@@ -11,7 +11,7 @@
 
   <group ns="$(arg namespace)">
     <param name="robot_description"
-           command="$(find xacro)/xacro --inorder $(find hsrb_description)/robots/$(arg robot_model).urdf.xacro gazebo_visualization_enabled:=$(arg visualization) implicit_damping:=$(arg implicit_damping) ground_truth_xyz_offset:=$(arg ground_truth_xyz_offset) ground_truth_rpy_offset:=$(arg ground_truth_rpy_offset)" />
+           command="$(find xacro)/xacro --inorder $(find hero_bringup)/hsrb_description/robots/$(arg robot_model).urdf.xacro gazebo_visualization_enabled:=$(arg visualization) implicit_damping:=$(arg implicit_damping) ground_truth_xyz_offset:=$(arg ground_truth_xyz_offset) ground_truth_rpy_offset:=$(arg ground_truth_rpy_offset)" />
     <param name="robot_collision_pair" textfile="$(find hsrb_description)/robots/collision_pair_hsrb.xml" />
   </group>
 </launch>