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Rover4wd branch #600

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45fe494
adding rover description
ciglesias1995 Oct 13, 2025
5171296
changing urdf
ciglesias1995 Oct 13, 2025
a57b070
adding rover4wd
ciglesias1995 Oct 13, 2025
c836398
Delete CustomRobots/roverrobotics_description directory
ciglesias1995 Oct 13, 2025
60fcb54
adding rover
ciglesias1995 Oct 13, 2025
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92 changes: 92 additions & 0 deletions CustomRobots/roverrobotics_description/meshes/flipper_chassis.dae
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89 changes: 89 additions & 0 deletions CustomRobots/roverrobotics_description/meshes/flipper_track.dae
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92 changes: 92 additions & 0 deletions CustomRobots/roverrobotics_description/meshes/pro_tire.dae
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17,878 changes: 17,878 additions & 0 deletions CustomRobots/roverrobotics_description/meshes/rover_payload.dae
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162 changes: 162 additions & 0 deletions CustomRobots/roverrobotics_description/meshes/rplidar_s2.dae
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26 changes: 26 additions & 0 deletions CustomRobots/roverrobotics_description/urdf/accessories/imu.urdf
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="imu">

<link name="imu_link"/>

<joint name="imu_to_payload" type="fixed">
<parent link="payload_link"/>
<child link="imu_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>

<gazebo reference="imu_link">
<sensor name="imu" type="imu">
<always_on>1</always_on>
<update_rate>50</update_rate>
<visualize>true</visualize>
<topic>imu/data</topic>
<enable_metrics>true</enable_metrics>
<frame_id>imu_link</frame_id>
</sensor>
</gazebo>

<gazebo>
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
</gazebo>

</robot>
31 changes: 31 additions & 0 deletions CustomRobots/roverrobotics_description/urdf/accessories/rover_dev_payload.urdf
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rover_miti_payload">

<link name="payload_link">
<visual>
<origin xyz="0 0.0115 0" rpy="1.57 -0 1.57" />
<geometry>
<mesh filename="file://$(find roverrobotics_description)/meshes/rover_payload.dae"/>
</geometry>
</visual>

<collision>
<origin xyz="0 0.0115 0" rpy="1.57 -0 1.57" />
<geometry>
<mesh filename="file://$(find roverrobotics_description)/meshes/rover_payload.dae"/>
</geometry>
</collision>

<inertial>
<origin xyz="-0.01 0 0" rpy="0 0 0"/>
<mass value="2.95" />
<inertia ixx="0.018398" ixy="0.0" ixz="0.0" iyy="0.04064" iyz="0.0" izz="0.05396" />
</inertial>
</link>

<joint name="payload_to_chassis" type="fixed">
<parent link="chassis_link"/>
<child link="payload_link"/>
<origin xyz="0 0 ${payload_z_offset}"/>
</joint>

</robot>
64 changes: 64 additions & 0 deletions CustomRobots/roverrobotics_description/urdf/accessories/rplidar_s2.urdf
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rplidar_s2">

<link name="lidar_link">
<visual>
<origin xyz="0 0 0" rpy="-1.57 0 3.1415"/>
<geometry>
<mesh filename="file://$(find roverrobotics_description)/meshes/rplidar_s2.dae"/>
</geometry>
</visual>

<collision>
<origin xyz="0 0 0" rpy="-1.57 0 3.1415"/>
<geometry>
<mesh filename="file://$(find roverrobotics_description)/meshes/rplidar_s2.dae"/>
</geometry>
</collision>

</link>

<joint name="lidar_to_payload" type="fixed">
<parent link="payload_link"/>
<child link="lidar_link"/>
<origin xyz="0.174 0 0.10" rpy="0 0 3.1415"/>
</joint>

<gazebo reference="lidar_link">
<sensor name='gpu_lidar' type='gpu_lidar'>
<pose>0 0 0 0 0 0</pose>
<topic>scan</topic>
<frame_id>lidar_link</frame_id>
<update_rate>10</update_rate>
<lidar>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>-3.14159</min_angle>
<max_angle>3.14159</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>0.0</min_angle>
<max_angle>0.0</max_angle>
</vertical>
</scan>
<range>
<min>0.15</min>
<max>10.0</max>
<resolution>0.01</resolution>
</range>
</lidar>
<visualize>true</visualize>
<always_on>1</always_on>
</sensor>
</gazebo>

<gazebo>
<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
</gazebo>

</robot>
220 changes: 220 additions & 0 deletions CustomRobots/roverrobotics_description/urdf/rover_4wd.urdf
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rover_4wd">

<xacro:property name="wheel_z_offset" value="0.020" />
<xacro:property name="wheel_x_offset" value="0.145" />
<xacro:property name="front_flipper_x_offset" value="-0.0035" />
<xacro:property name="wheel_y_offset" value="0.18" />
<xacro:property name="track_y_offset" value="0.11" />
<xacro:property name="wheel_mass" value="1.25" />
<xacro:property name="chassis_mass" value="4.53592" />

<xacro:property name="payload_z_offset" value="0.096" />
<xacro:include filename="accessories/rover_dev_payload.urdf" />
<xacro:include filename="accessories/rplidar_s2.urdf" />
<xacro:include filename="accessories/imu.urdf" />

<link name="base_link" />
<link name="chassis_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 -0 1.57" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/flipper_chassis.dae"/>
</geometry>
</visual>
<visual>
<origin xyz="0 ${track_y_offset} 0" rpy="1.57 3.1415 0" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/flipper_track.dae"/>
</geometry>
</visual>

<collision>
<origin xyz="0 ${track_y_offset} 0" rpy="1.57 3.1415 0" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/flipper_track.dae"/>
</geometry>
</collision>

<visual>
<origin xyz="0 ${-track_y_offset} 0" rpy="1.57 3.1415 0" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/flipper_track.dae"/>
</geometry>
</visual>

<collision>
<origin xyz="0 ${-track_y_offset} 0" rpy="1.57 3.1415 0" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/flipper_track.dae"/>
</geometry>
</collision>

<collision>
<origin xyz="0 0 0" rpy="1.57 -0 1.57" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/flipper_chassis.dae"/>
</geometry>
</collision>

<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="${chassis_mass}" />
<inertia ixx="0.028064" ixy="0.0" ixz="0.0" iyy="0.08226" iyz="0.0" izz="0.10258" />
</inertial>
</link>

<joint name="base_to_chassis" type="fixed">
<parent link="base_link"/>
<child link="chassis_link"/>
<origin xyz="0 0 0.125"/>
</joint>


<link name="fr_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="-1.57 0 0" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
</geometry>
</visual>

<collision>
<origin xyz="0 0 0" rpy="-1.57 0 0" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
</geometry>
</collision>

<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="${wheel_mass}" />
<inertia ixx="0.005645" ixy="0.0" ixz="0.0" iyy= "0.01008" iyz="0.0" izz="0.005645"/>
</inertial>
<mu>5.0</mu>
</link>
<joint name="fr_wheel_to_chassis" type="continuous">
<parent link="chassis_link"/>
<child link="fr_wheel_link"/>
<axis xyz="0 1 0"/>
<origin xyz="${wheel_x_offset + front_flipper_x_offset} ${-wheel_y_offset} 0" rpy="0 0 0"/>
</joint>

<link name="fl_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
</geometry>
</visual>

<collision>
<origin xyz="0 0 0" rpy="1.57 0 0" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
</geometry>
</collision>

<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="${wheel_mass}" />
<inertia ixx="0.005645" ixy="0.0" ixz="0.0" iyy= "0.01008" iyz="0.0" izz="0.005645"/>
</inertial>
<mu>5.0</mu>
</link>
<joint name="fl_wheel_to_chassis" type="continuous">
<parent link="chassis_link"/>
<child link="fl_wheel_link"/>
<axis xyz="0 1 0"/>
<origin xyz="${wheel_x_offset + front_flipper_x_offset} ${wheel_y_offset} 0" rpy="0 0 0"/>
</joint>

<link name="rr_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 3.1415" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
</geometry>
</visual>

<collision>
<origin xyz="0 0 0" rpy="1.57 0 3.1415" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
</geometry>
</collision>

<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="${wheel_mass}" />
<inertia ixx="0.005645" ixy="0.0" ixz="0.0" iyy= "0.01008" iyz="0.0" izz="0.005645"/>
</inertial>
<mu>5.0</mu>
</link>
<joint name="rr_wheel_to_chassis" type="continuous">
<parent link="chassis_link"/>
<child link="rr_wheel_link"/>
<axis xyz="0 1 0"/>
<origin xyz="${-wheel_x_offset} ${-wheel_y_offset} 0"/>
</joint>

<link name="rl_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="-1.57 0 3.1415" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
</geometry>
</visual>

<collision>
<origin xyz="0 0 0" rpy="-1.57 0 3.1415" />
<geometry>
<mesh filename="package://roverrobotics_description/meshes/pro_tire.dae"/>
</geometry>
</collision>

<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="${wheel_mass}" />
<inertia ixx="0.005645" ixy="0.0" ixz="0.0" iyy= "0.01008" iyz="0.0" izz="0.005645"/>
</inertial>
<mu>5.0</mu>
</link>
<joint name="rl_wheel_to_chassis" type="continuous">
<parent link="chassis_link"/>
<child link="rl_wheel_link"/>
<axis xyz="0 1 0"/>
<origin xyz="${-wheel_x_offset} ${wheel_y_offset} 0"/>
</joint>


<gazebo>
<plugin name="gz::sim::systems::DiffDrive" filename="gz-sim-diff-drive-system">
<num_wheel_pairs>2</num_wheel_pairs>
<left_joint>rl_wheel_to_chassis</left_joint>
<left_joint>fl_wheel_to_chassis</left_joint>
<right_joint>rr_wheel_to_chassis</right_joint>
<right_joint>fr_wheel_to_chassis</right_joint>
<wheel_separation>0.24</wheel_separation>
<wheel_radius>0.122</wheel_radius>

<max_linear_acceleration>5</max_linear_acceleration>
<min_linear_acceleration>-5</min_linear_acceleration>
<max_angular_acceleration>4</max_angular_acceleration>
<min_angular_acceleration>-4</min_angular_acceleration>


<frame_id>odom</frame_id>
<child_frame_id>base_link</child_frame_id>

<topic>/cmd_vel</topic>
<odom_topic>/odometry/wheels</odom_topic>
<tf_topic>/tf_gazebo</tf_topic>

</plugin>

<plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
<topic>/joint_states</topic>
</plugin>
</gazebo>

</robot>