Update Andino hardware and chassis (#307)

Signed-off-by: Miguel <miguel.diaz@creativa77.com.ar>

Author: AngelDiaz03

README.md

@@ -15,7 +15,7 @@ It is fully integrated with ROS 2 and it is a great base platform to improve ski
 With its open-source design, anyone can modify and customize the robot to suit their specific needs.
 
 <p align="center">
-  <img src="docs/real_robot.png" width=500 />
+  <img src="docs/real_robot.png" width=900 />
 </p>
 
 _Note: For videos go to [Media](#selfie-media) section._

andino_description/config/andino/base.yaml

@@ -1,6 +1,6 @@
 base:
-  mass: 0.8               # Base mass in Kg
-  x_size: 0.195           # Dimension in x axis
-  y_size: 0.08            # Dimension in y axis
-  z_size: 0.005           # Dimension in z axis
-  mesh: 'chassis.stl'  # Name of the mesh files. Leave it empty ('') to have a white base.
+  mass: 0.8                 # Base mass in Kg
+  x_size: 0.25              # Dimension in x axis
+  y_size: 0.1               # Dimension in y axis
+  z_size: 0.05             # Dimension in z axis
+  mesh: 'base_chassis.stl'  # Name of the mesh files. Leave it empty ('') to have a white base.

andino_description/config/andino/battery_base.yaml

@@ -0,0 +1,6 @@
+base:
+  mass: 0.8                 # Base mass in Kg
+  x_size: 0.109067             # Dimension in x axis
+  y_size: 0.1               # Dimension in y axis
+  z_size: 0.0465              # Dimension in z axis
+  mesh: 'battery_chassis.stl' # Name of the mesh files. Leave it empty ('') to have a white base.

andino_description/config/andino/caster_wheel.yaml

@@ -1,31 +1,11 @@
-base:
-  mass: 0.02
-  size:
-    x: 0.04
-    y: 0.04
-    z: 0.04
-  dx: -0.076
-  dy: 0.0
-  dz: 0.0045
-  mesh: 'caster_base.stl'
-
-hub:
-  mass: 0.02
-  size:
-    x: 0.04
-    y: 0.04
-    z: 0.04
-  dx: -0.077
-  dy: 0.0
-  dz: 0.0045
-  mesh: 'caster_wheel_support.stl'
-
 wheel:
   mass: 0.5        # Wheel mass in Kg
-  radius: 0.015     # Wheel radius in m
-  length: 0.01      # Wheel length in m, considering is as a cylinder
+  radius: 0.010747
+  size:
+    x: 0.032
+    y: 0.032
+    z: 0.02
   mesh: 'caster_wheel.stl'          # Name of the mesh files. Leave it empty ('') to have a red wheel
-  x_offset: 0.035
-  dx: -0.016  # ${-caster_base_size/2.0*0.8}
-  dy: -1
-  dz: -0.04
+  dx: -0.0754  
+  dy: 0.0
+  dz: -0.003

andino_description/config/andino/lidar_base.yaml

@@ -0,0 +1,6 @@
+base:
+  mass: 0.8                 # Base mass in Kg
+  x_size: 0.112             # Dimension in x axis
+  y_size: 0.1               # Dimension in y axis
+  z_size: 0.05              # Dimension in z axis
+  mesh: 'lidar_chassis.stl' # Name of the mesh files. Leave it empty ('') to have a white base.

andino_description/config/andino/motor.yaml

@@ -4,6 +4,6 @@ y_size: 0.0225     # Motor dimension in y axis
 z_size: 0.0188     # Motor dimension in z axis
 mesh: 'motor.stl'  # Leave it empty ('') to have a box as motor
 scale: ''
-x_offset: 0.096
-y_offset: -0.0135
-z_offset: -0.017
+x_offset: 0.032223
+y_offset: 0.038279
+z_offset: 0.011253

andino_description/config/andino/second_base.yaml

@@ -3,14 +3,14 @@ laser:
   radius: 0.015     # Wheel radius in m
   length: 0.01      # Wheel length in m, considering is as a cylinder
   mesh: 'rplidar-a1.stl'  # Leave it empty ('') to have a red wheel
-  dx: 0.05
+  dx: 0.0666
   dy: 0.0
-  dz: 0.08
+  dz: 0.084808
 
 camera:
   mass: 0.1          # mass in Kg
   box_size: 0.02
   mesh: 'camera_mount.stl'  # If empty, it will be have a box as visual
-  dx: 0.085
+  dx: 0.098
   dy: 0.0
   dz: 0.025

andino_description/config/andino/sensors.yaml

@@ -1,8 +1,8 @@
 mass: 0.032        # Wheel mass in Kg
-radius: 0.0331    # Wheel radius in m
-length: 0.025     # Wheel length in m, considering is as a cylinder
+radius: 0.0331     # Wheel radius in m
+length: 0.025      # Wheel length in m, considering is as a cylinder
 mesh: '../components/wheel.stl'  # Leave it empty ('') to have a red wheel
 scale: ''
-x_offset: 0.079
-y_offset: 0.015
-z_offset: -0.017
+x_offset: 0.016438    # Wheel to motor offset in x
+y_offset: 0.025721    # Wheel to motor offset in y
+z_offset: 0.0      # Wheel to motor offset in z