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added configured Kraken

Michał Pełka 2 年之前
父节点
当前提交
2faf3f5769
共有 63 个文件被更改,包括 5551 次插入0 次删除
  1. 539 0
      Project/Assets/Importer/apple_kraken.prefab
  2. 3016 0
      Project/Assets/Importer/apple_kraken_old.prefab
  3. 591 0
      Project/Assets/apple_kraken.urdf
  4. 55 0
      Project/Assets/meshes/Chassis/Chassis.dae
  5. 3 0
      Project/Assets/meshes/Chassis/ChassisWheelLeft_Albedo.png
  6. 3 0
      Project/Assets/meshes/Chassis/ChassisWheelLeft_Metalness.png
  7. 3 0
      Project/Assets/meshes/Chassis/ChassisWheelLeft_Normal.png
  8. 3 0
      Project/Assets/meshes/Chassis/ChassisWheelLeft_Roughness.png
  9. 3 0
      Project/Assets/meshes/Chassis/Chassis_Albedo.png
  10. 3 0
      Project/Assets/meshes/Chassis/Chassis_Metalness.png
  11. 3 0
      Project/Assets/meshes/Chassis/Chassis_Normal.png
  12. 3 0
      Project/Assets/meshes/Chassis/Chassis_Roughness.png
  13. 18 0
      Project/Assets/meshes/Chassis/Frame.dae
  14. 41 0
      Project/Assets/meshes/Steering/SteeringArmLeft.dae
  15. 3 0
      Project/Assets/meshes/Steering/SteeringArmLeft_Albedo.png
  16. 3 0
      Project/Assets/meshes/Steering/SteeringArmLeft_Metalness.png
  17. 3 0
      Project/Assets/meshes/Steering/SteeringArmLeft_Normal.png
  18. 3 0
      Project/Assets/meshes/Steering/SteeringArmLeft_Roughness.png
  19. 55 0
      Project/Assets/meshes/Steering/SteeringArmRight.dae
  20. 3 0
      Project/Assets/meshes/Steering/SteeringArmRight_Albedo.png
  21. 3 0
      Project/Assets/meshes/Steering/SteeringArmRight_Metalness.png
  22. 3 0
      Project/Assets/meshes/Steering/SteeringArmRight_Normal.png
  23. 3 0
      Project/Assets/meshes/Steering/SteeringArmRight_Roughness.png
  24. 41 0
      Project/Assets/meshes/Steering/SteeringRack.dae
  25. 3 0
      Project/Assets/meshes/Steering/SteeringRack_Albedo.png
  26. 3 0
      Project/Assets/meshes/Steering/SteeringRack_Metalness.png
  27. 3 0
      Project/Assets/meshes/Steering/SteeringRack_Normal.png
  28. 3 0
      Project/Assets/meshes/Steering/SteeringRack_Roughness.png
  29. 18 0
      Project/Assets/meshes/VacuumNozzle/VacuumMechanismPart01.dae
  30. 48 0
      Project/Assets/meshes/VacuumNozzle/VacuumMechanismPart01.dae.assetinfo
  31. 18 0
      Project/Assets/meshes/VacuumNozzle/VacuumMechanismPart02.dae
  32. 48 0
      Project/Assets/meshes/VacuumNozzle/VacuumMechanismPart02.dae.assetinfo
  33. 18 0
      Project/Assets/meshes/VacuumNozzle/VacuumNozzle.dae
  34. 48 0
      Project/Assets/meshes/VacuumNozzle/VacuumNozzle.dae.assetinfo
  35. 18 0
      Project/Assets/meshes/VacuumNozzle/VacuumNozzle02.dae
  36. 48 0
      Project/Assets/meshes/VacuumNozzle/VacuumNozzle02.dae.assetinfo
  37. 3 0
      Project/Assets/meshes/VacuumNozzle/VacuumPart01_Albedo.png
  38. 3 0
      Project/Assets/meshes/VacuumNozzle/VacuumPart01_Metalness.png
  39. 3 0
      Project/Assets/meshes/VacuumNozzle/VacuumPart01_Normal.png
  40. 3 0
      Project/Assets/meshes/VacuumNozzle/VacuumPart01_Roughness.png
  41. 3 0
      Project/Assets/meshes/VacuumNozzle/VacuumPart02_Albedo.png
  42. 3 0
      Project/Assets/meshes/VacuumNozzle/VacuumPart02_Metalness.png
  43. 3 0
      Project/Assets/meshes/VacuumNozzle/VacuumPart02_Normal.png
  44. 3 0
      Project/Assets/meshes/VacuumNozzle/VacuumPart02_Roughness.png
  45. 3 0
      Project/Assets/meshes/VacuumNozzle/Vacuum_Albedo.png
  46. 3 0
      Project/Assets/meshes/VacuumNozzle/Vacuum_Metalness.png
  47. 3 0
      Project/Assets/meshes/VacuumNozzle/Vacuum_Normal.png
  48. 3 0
      Project/Assets/meshes/VacuumNozzle/Vacuum_Roughness.png
  49. 55 0
      Project/Assets/meshes/Wheels/WheelLeft.dae
  50. 3 0
      Project/Assets/meshes/Wheels/WheelLeft_Albedo.png
  51. 3 0
      Project/Assets/meshes/Wheels/WheelLeft_Metalness.png
  52. 3 0
      Project/Assets/meshes/Wheels/WheelLeft_Normal.png
  53. 3 0
      Project/Assets/meshes/Wheels/WheelLeft_Roughness.png
  54. 55 0
      Project/Assets/meshes/Wheels/WheelRight.dae
  55. 3 0
      Project/Assets/meshes/Wheels/WheelRight_Albedo.png
  56. 3 0
      Project/Assets/meshes/Wheels/WheelRight_Metalness.png
  57. 3 0
      Project/Assets/meshes/Wheels/WheelRight_Normal.png
  58. 3 0
      Project/Assets/meshes/Wheels/WheelRight_Roughness.png
  59. 3 0
      Project/Assets/meshes/Wheels/Wheel_Albedo.png
  60. 3 0
      Project/Assets/meshes/Wheels/Wheel_Metalness.png
  61. 3 0
      Project/Assets/meshes/Wheels/Wheel_Normal.png
  62. 3 0
      Project/Assets/meshes/Wheels/Wheel_Roughness.png
  63. 689 0
      Project/Levels/playground/playground.prefab

文件差异内容过多而无法显示
+ 539 - 0
Project/Assets/Importer/apple_kraken.prefab


+ 3016 - 0
Project/Assets/Importer/apple_kraken_old.prefab

@@ -0,0 +1,3016 @@
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+                        "Centre of mass offset": [
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+                        "Inertia tensor": [
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+            "Name": "steering_rack_visual",
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+}

+ 591 - 0
Project/Assets/apple_kraken.urdf

@@ -0,0 +1,591 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from urdf/apple_kraken.xacro        | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="apple_kraken">
+  <!-- Used for fixing robot -->
+  <!-- <link name="world"/>
+  <gazebo reference="world">
+    <static>true</static>
+  </gazebo> -->
+  <!-- ROBOT DEFINITION -->
+  <!-- <joint name="${prefix}base_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="${prefix}base_link" />
+    </joint> -->
+  <!-- TODO(YV): Prefix all links and joints -->
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0.000000 -0.000000 -1.570796" xyz="1.003638 0.000000 0.000000"/>
+      <!-- TODO: Update mass as volume from Meshlab will overestimate the mass -->
+      <mass value="300"/>
+      <inertia ixx="50.0" ixy="0.0" ixz="0.0" iyy="240.0" iyz="0.0" izz="250.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0.000000 -0.000000 -1.570796" xyz="1.003638 0.000000 0.000000"/>
+      <geometry>
+        <mesh filename="file:///home/michal/ros2_ws/install/apple_kraken_description/share/apple_kraken_description/meshes/Chassis/Chassis.dae" scale="0.6 1 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0.000000 0.000000 0.000000" xyz="1.011914 0.015452 0.839275"/>
+      <geometry>
+        <box size="2.965304 0.595628 0.153936"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0.000000 0.000000 0.000000" xyz="0.968522 0.015452 0.993211"/>
+      <geometry>
+        <box size="1.253167 0.595628 0.153936"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0.000000 0.000000 0.000000" xyz="0.508498 0.015452 0.555585"/>
+      <geometry>
+        <box size="1.958472 0.595628 0.413444"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0.000000 0.000000 0.000000" xyz="1.944041 0.015452 0.555585"/>
+      <geometry>
+        <box size="1.101050 0.307136 0.413444"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="wheel_rear_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.0 0.0"/>
+      <mass value="24.5"/>
+      <inertia ixx="0.787" ixy="0.0" ixz="0.0" iyy="0.787" iyz="0.0" izz="1.309"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.571 0" xyz="0 0 0.132"/>
+      <geometry>
+        <mesh filename="file:///home/michal/ros2_ws/install/apple_kraken_description/share/apple_kraken_description/meshes/Wheels/WheelRight.dae" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.066"/>
+      <geometry>
+        <cylinder length="0.132" radius="0.3"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="wheel_rear_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.0 0.132"/>
+      <mass value="24.5"/>
+      <inertia ixx="0.787" ixy="0.0" ixz="0.0" iyy="0.787" iyz="0.0" izz="1.309"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -1.571 0 " xyz="0 0 0.0"/>
+      <geometry>
+        <mesh filename="file:///home/michal/ros2_ws/install/apple_kraken_description/share/apple_kraken_description/meshes/Wheels/WheelLeft.dae" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.066"/>
+      <geometry>
+        <cylinder length="0.132" radius="0.3"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="wheel_front_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.0 -0.066"/>
+      <mass value="24.5"/>
+      <inertia ixx="0.787" ixy="0.0" ixz="0.0" iyy="0.787" iyz="0.0" izz="1.309"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.571 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///home/michal/ros2_ws/install/apple_kraken_description/share/apple_kraken_description/meshes/Wheels/WheelRight.dae" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.066"/>
+      <geometry>
+        <cylinder length="0.132" radius="0.3"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="wheel_front_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.0 0.066"/>
+      <mass value="24.5"/>
+      <inertia ixx="0.787" ixy="0.0" ixz="0.0" iyy="0.787" iyz="0.0" izz="1.309"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -1.571 0" xyz="0 0 0.132"/>
+      <geometry>
+        <mesh filename="file:///home/michal/ros2_ws/install/apple_kraken_description/share/apple_kraken_description/meshes/Wheels/WheelLeft.dae" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.066"/>
+      <geometry>
+        <cylinder length="0.132" radius="0.3"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="manipulator_link_0">
+    <inertial>
+      <origin rpy="0.1745 0 0" xyz="0.0 -0.6 2.0"/>
+      <mass value="25.0"/>
+      <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.068" iyz="0.0" izz="0.067"/>
+    </inertial>
+    <!-- <visual>
+        <origin rpy="0 0 -1.571" xyz="0.0 0.0 0.1"/>
+        <geometry>
+          <mesh filename="file://$(find apple_kraken_description)/meshes/Chassis/Frame.dae" scale="1 1 1"/>
+        </geometry>
+      </visual> -->
+    <visual>
+      <origin rpy="-0.174533 0 0" xyz="0.9 -0.65 2.4"/>
+      <geometry>
+        <box size="0.1 0.1 2.0"/>
+      </geometry>
+    </visual>
+    <visual>
+      <origin rpy="-0.174533 0 0" xyz="-0.9 -0.65 2.4"/>
+      <geometry>
+        <box size="0.1 0.1 2.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="-0.174533 0 0" xyz="0.9 -0.65 2.4"/>
+      <geometry>
+        <box size="0.1 0.1 2.0"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="-0.174533 0 0" xyz="-0.9 -0.65 2.4"/>
+      <geometry>
+        <box size="0.1 0.1 2.0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="manipulator_link_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="25.0"/>
+      <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.068" iyz="0.0" izz="0.067"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 -1.571" xyz="0.0 0.0 0"/>
+      <geometry>
+        <mesh filename="file:///home/michal/ros2_ws/install/apple_kraken_description/share/apple_kraken_description/meshes/VacuumNozzle/VacuumMechanismPart01.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <!-- <collision>
+        <origin rpy="0 0 -1.571" xyz="0.0 0.0 0"/>
+        <geometry>
+          <mesh filename="file://$(find apple_kraken_description)/meshes/VacuumNozzle/VacuumMechanismPart01.dae" scale="1 1 1"/>
+        </geometry>
+      </collision> -->
+  </link>
+  <link name="manipulator_link_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="10.0"/>
+      <inertia ixx="0.05" ixy="0.0" ixz="0.0" iyy="0.05" iyz="0.0" izz="0.05"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.571 0 -1.571" xyz="0.0 0.0 0"/>
+      <geometry>
+        <mesh filename="file:///home/michal/ros2_ws/install/apple_kraken_description/share/apple_kraken_description/meshes/VacuumNozzle/VacuumMechanismPart02.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <!-- <collision>
+        <origin rpy="1.571 0 -1.571" xyz="0.0 0.0 0"/>
+        <geometry>
+          <mesh filename="file://$(find apple_kraken_description)/meshes/VacuumNozzle/VacuumMechanismPart02.dae" scale="1 1 1"/>
+        </geometry>
+      </collision> -->
+  </link>
+  <!-- Nozzle -->
+  <link name="manipulator_link_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="5.0"/>
+      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -1.571 0" xyz="0.0 0.0 0"/>
+      <geometry>
+        <mesh filename="file:///home/michal/ros2_ws/install/apple_kraken_description/share/apple_kraken_description/meshes/VacuumNozzle/VacuumNozzle.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <!-- <collision>
+        <origin rpy="0 -1.571 0" xyz="0.0 0.0 0"/>
+        <geometry>
+          <mesh filename="file://$(find apple_kraken_description)/meshes/VacuumNozzle/VacuumNozzle.dae" scale="1 1 1"/>
+        </geometry>
+      </collision> -->
+  </link>
+  <!-- Nozzle02 -->
+  <link name="manipulator_link_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="5.0"/>
+      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -1.571 0" xyz="0.0 0.0 0"/>
+      <geometry>
+        <mesh filename="file:///home/michal/ros2_ws/install/apple_kraken_description/share/apple_kraken_description/meshes/VacuumNozzle/VacuumNozzle02.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <!-- <collision>
+        <origin rpy="0 -1.571 0" xyz="0.0 0.0 0"/>
+        <geometry>
+          <mesh filename="file://$(find apple_kraken_description)/meshes/VacuumNozzle/VacuumNozzle02.dae" scale="1 1 1"/>
+        </geometry>
+      </collision> -->
+  </link>
+  <!-- <link name="steering_rack">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0 0.43 0.0"/>
+        <mass value="10.0"/>
+        <inertia ixx="0.067" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.067"/>
+      </inertial>
+
+      <visual>
+        <origin rpy="0 0 -1.571" xyz="0.0 0.43 0"/>
+        <geometry>
+          <mesh filename="file://$(find apple_kraken_description)/meshes/Steering/SteeringRack.dae" scale="1 1 1"/>
+        </geometry>
+      </visual>
+    </link> -->
+  <!-- TODO: Add update steering links with right values of interial. -->
+  <link name="steering_front_right_link">
+    <inertial>
+      <origin rpy="0 0 -1.571" xyz="0 0 -0.04"/>
+      <mass value="1"/>
+      <inertia ixx="0.003514" ixy="0.0" ixz="0.0" iyy="0.001981" iyz="0.0" izz="0.001981"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 -1.571" xyz="0 0 -0.04"/>
+      <geometry>
+        <mesh filename="file:///home/michal/ros2_ws/install/apple_kraken_description/share/apple_kraken_description/meshes/Steering/SteeringArmRight.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="steering_front_left_link">
+    <inertial>
+      <origin rpy="0 0 -1.571" xyz="0 0 -0.04"/>
+      <mass value="1"/>
+      <inertia ixx="0.003514" ixy="0.0" ixz="0.0" iyy="0.001981" iyz="0.0" izz="0.001981"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 -1.571" xyz="0 0 -0.04"/>
+      <geometry>
+        <mesh filename="file:///home/michal/ros2_ws/install/apple_kraken_description/share/apple_kraken_description/meshes/Steering/SteeringArmLeft.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="wheel_rear_right_joint" type="continuous">
+    <origin rpy="-1.570796 -0.000000 0.000000" xyz="0.000000 0.35 0.3"/>
+    <parent link="base_link"/>
+    <child link="wheel_rear_right_link"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="1000000.0" velocity="1000.0"/>
+  </joint>
+  <joint name="wheel_rear_left_joint" type="continuous">
+    <origin rpy="-1.570796 -0.000000 0.000000" xyz="0.000000 -0.35 0.3"/>
+    <parent link="base_link"/>
+    <child link="wheel_rear_left_link"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="1000000.0" velocity="1000.0"/>
+  </joint>
+  <joint name="wheel_front_right_joint" type="continuous">
+    <origin rpy="-1.571 0 0" xyz="0 -0.12499999999999997 0"/>
+    <parent link="steering_front_right_link"/>
+    <child link="wheel_front_right_link"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="1000000.0" velocity="1000.0"/>
+  </joint>
+  <joint name="wheel_front_left_joint" type="continuous">
+    <origin rpy="-1.571 0 0" xyz="0 0.12499999999999997 0"/>
+    <parent link="steering_front_left_link"/>
+    <child link="wheel_front_left_link"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="1000000.0" velocity="1000.0"/>
+  </joint>
+  <!-- <joint name="steering_rack_joint_R" type="revolute">
+      <origin rpy="0 0 0" xyz="-0.1637 0 0.035"/>
+      <parent link="steering_front_right_link"/>
+      <child link="steering_rack"/>
+      <axis xyz="0.0 0.0 1.0"/>
+      <limit effort="1000000.0" lower="-0.5235" upper="0.5235" velocity="100"/>
+    </joint>
+
+    <joint name="steering_rack_joint_L" type="revolute">
+      <origin rpy="0 0 0" xyz="-0.1637 0 0.035"/>
+      <parent link="steering_front_left_link"/>
+      <child link="steering_rack"/>
+      <axis xyz="0.0 0.0 1.0"/>
+      <limit effort="1000000.0" lower="-0.5235" upper="0.5235" velocity="100"/>
+    </joint> -->
+  <joint name="steering_front_right_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="2.0 -0.225 0.3"/>
+    <parent link="base_link"/>
+    <child link="steering_front_right_link"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <dynamics damping="2.0" friction="1.0"/>
+    <limit effort="1000000.0" lower="-0.5235" upper="0.5235" velocity="100"/>
+  </joint>
+  <joint name="steering_front_left_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="2.0 0.225 0.3"/>
+    <parent link="base_link"/>
+    <child link="steering_front_left_link"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <dynamics damping="2.0" friction="1.0"/>
+    <limit effort="1000000.0" lower="-0.5235" upper="0.5235" velocity="100"/>
+  </joint>
+  <joint name="manipulator_joint_0" type="fixed">
+    <origin rpy="0 0 0" xyz="0.603927 0.2 -1.0"/>
+    <parent link="base_link"/>
+    <child link="manipulator_link_0"/>
+  </joint>
+  <!-- Joint that moves manipulator along Z-Axis -->
+  <joint name="manipulator_joint_1" type="prismatic">
+    <origin rpy="-0.1745 0 0" xyz="0.53087 -0.356346 1.7"/>
+    <parent link="base_link"/>
+    <child link="manipulator_link_1"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <dynamics damping="2.0" friction="1.0"/>
+    <limit effort="1000.0" lower="-1.25" upper="0.55" velocity="1.0"/>
+  </joint>
+  <!-- Joint that moves manipulator along X-Axis -->
+  <joint name="manipulator_joint_2" type="prismatic">
+    <origin rpy="0 1.571 0" xyz="0 0 0"/>
+    <parent link="manipulator_link_1"/>
+    <child link="manipulator_link_2"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <dynamics damping="2.0" friction="1.0"/>
+    <limit effort="1000.0" lower="-0.7" upper="0.7" velocity="1.0"/>
+  </joint>
+  <!-- Nozzle -->
+  <joint name="manipulator_joint_3" type="prismatic">
+    <origin rpy="1.571 0 0" xyz="-0.067 -0.35 -0.004"/>
+    <parent link="manipulator_link_2"/>
+    <child link="manipulator_link_3"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <dynamics damping="2.0" friction="1.0"/>
+    <limit effort="1000.0" lower="0" upper="0.28" velocity="1.0"/>
+  </joint>
+  <!-- Nozzle02 -->
+  <joint name="manipulator_joint_4" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="manipulator_link_3"/>
+    <child link="manipulator_link_4"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <dynamics damping="2.0" friction="1.0"/>
+    <limit effort="1000.0" lower="0" upper="0.28" velocity="1.0"/>
+  </joint>
+  <gazebo reference="base_link">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <selfCollide>false</selfCollide>
+    <gravity>true</gravity>
+  </gazebo>
+  <gazebo reference="wheel_rear_right_link">
+    <mu1>3.0</mu1>
+    <mu2>3.0</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <selfCollide>false</selfCollide>
+  </gazebo>
+  <gazebo reference="wheel_rear_left_link">
+    <mu1>3.0</mu1>
+    <mu2>3.0</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <selfCollide>false</selfCollide>
+  </gazebo>
+  <gazebo reference="wheel_front_right_link">
+    <mu1>3.0</mu1>
+    <mu2>3.0</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <selfCollide>false</selfCollide>
+  </gazebo>
+  <gazebo reference="wheel_front_left_link">
+    <mu1>1.1</mu1>
+    <mu2>1.1</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <selfCollide>false</selfCollide>
+  </gazebo>
+  <gazebo reference="steering_front_right_link">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <selfCollide>false</selfCollide>
+  </gazebo>
+  <gazebo reference="steering_front_left_link">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <selfCollide>false</selfCollide>
+  </gazebo>
+  <gazebo reference="manipulator_link_1">
+    <mu1>3.0</mu1>
+    <mu2>3.0</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <selfCollide>false</selfCollide>
+  </gazebo>
+  <gazebo reference="manipulator_link_2">
+    <mu1>3.0</mu1>
+    <mu2>3.0</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <selfCollide>false</selfCollide>
+  </gazebo>
+  <gazebo reference="manipulator_link_3">
+    <mu1>3.0</mu1>
+    <mu2>3.0</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <selfCollide>false</selfCollide>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_ros_ackermann_drive.so" name="ackermann_drive">
+      <update_rate>20.0</update_rate>
+      <!-- wheels -->
+      <front_left_joint>wheel_front_left_joint</front_left_joint>
+      <front_right_joint>wheel_front_right_joint</front_right_joint>
+      <rear_left_joint>wheel_rear_left_joint</rear_left_joint>
+      <rear_right_joint>wheel_rear_right_joint</rear_right_joint>
+      <left_steering_joint>steering_front_left_joint</left_steering_joint>
+      <right_steering_joint>steering_front_right_joint</right_steering_joint>
+      <!-- <steering_wheel_joint>steering_wheel_joint</steering_wheel_joint> -->
+      <!-- Max absolute steer angle for tyre in radians-->
+      <!-- Any cmd_vel angular z greater than this would be capped -->
+      <max_steer>0.5235</max_steer>
+      <!-- Max absolute steering angle of steering wheel -->
+      <max_steering_angle>7.85</max_steering_angle>
+      <!-- Max absolute linear speed in m/s -->
+      <max_speed>50</max_speed>
+      <!-- PID tuning -->
+      <left_steering_pid_gain>3000 0 100</left_steering_pid_gain>
+      <left_steering_i_range>0 0</left_steering_i_range>
+      <right_steering_pid_gain>3000 0 100</right_steering_pid_gain>
+      <right_steering_i_range>0 0</right_steering_i_range>
+      <linear_velocity_pid_gain>3000 0 100</linear_velocity_pid_gain>
+      <linear_velocity_i_range>0 0</linear_velocity_i_range>
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>true</publish_wheel_tf>
+      <publish_distance>true</publish_distance>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_link</robot_base_frame>
+    </plugin>
+  </gazebo>
+  <!-- ros_control plugin -->
+  <gazebo>
+    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+      <robot_param>robot_description</robot_param>
+      <robot_param_node>robot_state_publisher</robot_param_node>
+      <parameters>/home/michal/ros2_ws/install/apple_kraken_bringup/share/apple_kraken_bringup/config/controllers.yaml</parameters>
+    </plugin>
+  </gazebo>
+  <ros2_control name="AppleKrakenPositionOnlyHardware" type="system">
+    <hardware>
+      <!-- TODO(YV): Update once SystemInterface is implemented for real robot -->
+      <plugin>apple_kraken_hardware_interface/AppleKrakenPositionOnlyHardware</plugin>
+    </hardware>
+    <joint name="manipulator_joint_1">
+      <command_interface name="position">
+        <param name="min">-1.25</param>
+        <param name="max">0.0</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-1.0</param>
+        <param name="max">1.0</param>
+      </command_interface>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="manipulator_joint_2">
+      <command_interface name="position">
+        <param name="min">-0.32</param>
+        <param name="max">0.32</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-1.0</param>
+        <param name="max">1.0</param>
+      </command_interface>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="manipulator_joint_3">
+      <command_interface name="position">
+        <param name="min">0.0</param>
+        <param name="max">0.28</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-1.0</param>
+        <param name="max">1.0</param>
+      </command_interface>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="manipulator_joint_4">
+      <command_interface name="position">
+        <param name="min">0.0</param>
+        <param name="max">0.28</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-1.0</param>
+        <param name="max">1.0</param>
+      </command_interface>
+      <state_interface name="position">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <!-- State interfaces only -->
+    <joint name="wheel_rear_right_joint">
+      <state_interface name="position"/>
+    </joint>
+    <joint name="wheel_rear_left_joint">
+      <state_interface name="position"/>
+    </joint>
+    <joint name="wheel_front_right_joint">
+      <state_interface name="position"/>
+    </joint>
+    <joint name="wheel_front_left_joint">
+      <state_interface name="position"/>
+    </joint>
+    <joint name="steering_rack_joint_R">
+      <state_interface name="position"/>
+    </joint>
+    <joint name="steering_rack_joint_L">
+      <state_interface name="position"/>
+    </joint>
+    <joint name="steering_front_right_joint">
+      <state_interface name="position"/>
+    </joint>
+    <joint name="steering_front_left_joint">
+      <state_interface name="position"/>
+    </joint>
+  </ros2_control>
+</robot>

文件差异内容过多而无法显示
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文件差异内容过多而无法显示
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部分文件因为文件数量过多而无法显示