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feat: 完善车间环境中......

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li-shihao-code
2026-03-05 11:32:17 +08:00
parent 05a2eb439a
commit 9339c971fe
15 changed files with 772 additions and 135 deletions
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models/ack_m.urdf
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<?xml version="1.0" ?>
<robot name="qykj_ackm">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0174221592416108 0 0.0010674027636553"/>
<mass value="2.0946205"/>
<inertia ixx="0.00725227532564324" ixy="1.826574180869E-05" ixz="1.74522061015835E-05" iyy="0.0112392911749803" iyz="-1.16120716894918E-06" izz="0.0572118967643173"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/base_link.stl"/>
</geometry>
<material name="base_material">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/base_link.stl"/>
</geometry>
</collision>
</link>
<link name="base_footprint">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.01"/>
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
</inertial>
<visual>
<geometry>
<sphere radius="0.001"/>
</geometry>
</visual>
</link>
<joint name="base_link2base_footprint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin rpy="0 0 0" xyz="0 0 0.055"/>
</joint>
<link name="left_steering_hinge">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.085506993927856"/>
<inertia ixx="0.00342027975711424" ixy="-1.72810689862337E-03" ixz="2.68361824483564E-03" iyy="0.00342027975711424" iyz="1.65092622583439E-04" izz="0.00342027975711424"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.17831 -0.10435 -0.0070129"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_steer_link.stl"/>
</geometry>
<material name="steering_hinge_material">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.17831 -0.10435 -0.0070129"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_steer_link.stl"/>
</geometry>
</collision>
</link>
<joint name="left_steering_hinge_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.17831 0.10435 0.0070129"/>
<parent link="base_link"/>
<child link="left_steering_hinge"/>
<axis xyz="0 0 1"/>
<limit effort="8" lower="-0.5" upper="0.5" velocity="800"/>
<dynamics damping="0.5"/>
</joint>
<link name="right_steering_hinge">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.085506993927856"/>
<inertia ixx="0.00342027975711424" ixy="-1.72810689862337E-03" ixz="2.68361824483564E-03" iyy="0.00342027975711424" iyz="1.65092622583439E-04" izz="0.00342027975711424"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.17831 0.10435 -0.0070129"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_steer_link.stl"/>
</geometry>
<material name="steering_hinge_material">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.17831 0.10435 -0.0070129"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_steer_link.stl"/>
</geometry>
</collision>
</link>
<joint name="right_steering_hinge_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.17831 -0.10435 0.0070129"/>
<parent link="base_link"/>
<child link="right_steering_hinge"/>
<axis xyz="0 0 1"/>
<limit effort="8" lower="-0.5" upper="0.5" velocity="800"/>
<dynamics damping="0.5"/>
</joint>
<link name="left_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.01 0"/>
<mass value="0.083615304385799"/>
<inertia ixx="0.00010451913048224875" ixy="-1.02836030755788E-5" ixz="1.03858733509779E-10" iyy="0.000261297820954496875" iyz="-3.52038618447715E-09" izz="0.00010451913048224875"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.17831 -0.17835 -0.0070129"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_wheel_link.stl"/>
</geometry>
<material name="wheel_material">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.17831 -0.17835 -0.0070129"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_wheel_link.stl"/>
</geometry>
</collision>
</link>
<joint name="left_wheel_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 0.074 0"/>
<parent link="left_steering_hinge"/>
<child link="left_wheel"/>
<axis xyz="0 1 0"/>
<limit effort="6" velocity="800"/>
</joint>
<link name="right_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0.01 0"/>
<mass value="0.083615304385799"/>
<inertia ixx="0.00010451913048224875" ixy="-1.02836030755788E-5" ixz="1.03858733509779E-10" iyy="0.000261297820954496875" iyz="-3.52038618447715E-09" izz="0.00010451913048224875"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.17831 0.17835 -0.0070129"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_wheel_link.stl"/>
</geometry>
<material name="wheel_material">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.17831 0.17835 -0.0070129"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_wheel_link.stl"/>
</geometry>
</collision>
</link>
<joint name="right_wheel_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 -0.074 0"/>
<parent link="right_steering_hinge"/>
<child link="right_wheel"/>
<axis xyz="0 1 0"/>
<limit effort="6" velocity="800"/>
</joint>
<link name="left_rear_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.01 0"/>
<mass value="0.083615304385799"/>
<inertia ixx="0.000645041181644452" ixy="-1.02836030755788E-5" ixz="-1.03858733509779E-10" iyy="0.00617238444547154" iyz="3.52038618447715E-09" izz="0.00064504895313491"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.11072 -0.18046 -0.0099082"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_back_wheel_link.stl"/>
</geometry>
<material name="wheel_material">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.11072 -0.18046 -0.0099082"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_back_wheel_link.stl"/>
</geometry>
</collision>
</link>
<joint name="left_rear_wheel_joint" type="continuous">
<origin rpy="0 0 0" xyz="-0.11072 0.18046 0.0099082"/>
<parent link="base_link"/>
<child link="left_rear_wheel"/>
<axis xyz="0 1 0"/>
<limit effort="10" lower="-3.14159" upper="3.14159" velocity="800"/>
</joint>
<link name="right_rear_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0.01 0"/>
<mass value="0.083615304385799"/>
<inertia ixx="0.000645041181644452" ixy="-1.02836030755788E-5" ixz="-1.03858733509779E-10" iyy="0.00617238444547154" iyz="3.52038618447715E-09" izz="0.00064504895313491"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.11072 0.18046 -0.0099082"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_back_wheel_link.stl"/>
</geometry>
<material name="wheel_material">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.11072 0.18046 -0.0099082"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_back_wheel_link.stl"/>
</geometry>
</collision>
</link>
<joint name="right_rear_wheel_joint" type="continuous">
<origin rpy="0 0 0" xyz="-0.11072 -0.18046 0.0099082"/>
<parent link="base_link"/>
<child link="right_rear_wheel"/>
<axis xyz="0 1 0"/>
<limit effort="10" lower="-3.14159" upper="3.14159" velocity="800"/>
</joint>
<link name="camera">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.128875262431144"/>
<inertia ixx="0.000226098241375409" ixy="-7.63151331329159E-09" ixz="-6.02732800767945E-07" iyy="1.50549325275966E-05" iyz="-7.62743002721805E-10" izz="0.000225285047549157"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.21669 0.00063349 -0.142"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/camera.stl"/>
</geometry>
<material name="camera_material">
<color rgba="0 0 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.21669 0.00063349 -0.142"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/camera.stl"/>
</geometry>
</collision>
</link>
<joint name="camera_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.21669 -0.00063349 0.142"/>
<parent link="base_link"/>
<child link="camera"/>
<axis xyz="0 0 0"/>
</joint>
<link name="laser">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.136175408631878"/>
<inertia ixx="5.05126026373552E-05" ixy="1.31150574294136E-08" ixz="1.65013289478E-06" iyy="7.08926003407945E-05" iyz="2.49898507713873E-09" izz="0.00010333009695655"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.092303 -5.3876E-05 -0.2031"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/laser_link.stl"/>
</geometry>
<material name="sensor_material">
<color rgba="0 0 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.092303 -5.3876E-05 -0.2031"/>
<geometry>
<mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/laser_link.stl"/>
</geometry>
</collision>
</link>
<joint name="laser_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.092303 5.3876E-05 0.2031"/>
<parent link="base_link"/>
<child link="laser"/>
<axis xyz="0 0 0"/>
</joint>
<link name="imu">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.005"/>
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
</inertial>
<visual>
<geometry>
<box size="0.005 0.005 0.007"/>
</geometry>
</visual>
</link>
<joint name="imu_joints" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0035"/>
<parent link="base_link"/>
<child link="imu"/>
</joint>
</robot>
models/ack_m.usd
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models/ack_m.xacro
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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="qykj_ackm">
<!-- set param -->
<xacro:property name="base_color" value="1 0 0 1" />
<xacro:property name="wheel_color" value="0 0 0 1" />
<xacro:property name="sensor_color" value="0 0 1 1" />
<xacro:property name="camera_color" value="0 0 1 1" />
<!-- Define meshes -->
<xacro:property name="base_mesh" value="./meshes/base_link.STL" />
<xacro:property name="left_wheel_mesh" value="./meshes/left_wheel.STL" />
<xacro:property name="left_rear_wheel_mesh" value="./meshes/left_rear_wheel.STL" />
<xacro:property name="right_wheel_mesh" value="./meshes/right_wheel.STL" />
<xacro:property name="right_rear_wheel_mesh" value="./meshes/right_rear_wheel.STL" />
<xacro:property name="laser_mesh" value="./meshes/laser.STL" />
<xacro:property name="camera_mesh" value="./meshes/camera.STL" />
<!-- base_link and base_footprint -->
<xacro:macro name="base_link" params="mesh color">
<link name="base_link">
<inertial>
<origin xyz="-0.0174221592416108 0 0.0010674027636553" rpy="0 0 0" />
<!-- <mass value="3.18924071684633" /> -->
<mass value="2.0946205" />
<inertia ixx="0.00725227532564324" ixy="1.826574180869E-05" ixz="1.74522061015835E-05" iyy="0.0112392911749803" iyz="-1.16120716894918E-06" izz="0.0572118967643173" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh}" />
</geometry>
<material name="base_material">
<color rgba="${color}" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh}" />
</geometry>
</collision>
</link>
<!-- Base footprint -->
<link name="base_footprint">
<visual>
<geometry>
<sphere radius="0.001" />
</geometry>
</visual>
</link>
<joint name="base_link2base_footprint" type="fixed">
<parent link="base_footprint" />
<child link="base_link" />
<origin xyz="0 0 0.055" rpy="0 0 0" />
</joint>
</xacro:macro>
<!-- front wheel steering -->
<xacro:macro name="steering_hinge" params="prefix color mass_center position rotation">
<link name="${prefix}_steering_hinge">
<inertial>
<origin xyz="${mass_center}" rpy="0 0 0" />
<mass value="0.085506993927856" />
<inertia ixx="0.00342027975711424"
ixy="-1.72810689862337E-03"
ixz="2.68361824483564E-03"
iyy="0.00342027975711424"
iyz="1.65092622583439E-04"
izz="0.00342027975711424" />
<!-- <inertia ixx="0.00000000342027975711424" ixy="-1.72810689862337E-07" ixz="2.68361824483564E-07" iyy="0.0000000342027975711424" iyz="1.65092622583439E-08" izz="0.0000000342027975711424" /> -->
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.005"/> <!-- 尝试增大半径 -->
</geometry>
<material name="steering_hinge_material">
<color rgba="${color}" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.005"/> <!-- 尝试增大半径 -->
</geometry>
</collision>
</link>
<joint name="${prefix}_steering_hinge_joint" type="revolute">
<origin xyz="${position}" rpy="${rotation}"/>
<parent link="base_link"/>
<child link="${prefix}_steering_hinge"/>
<axis xyz="0 0 1" />
<limit lower="-0.5" upper="0.5" effort="8" velocity="800" />
<damping>0.5</damping> <!-- 增加阻尼 -->
</joint>
</xacro:macro>
<!-- front wheel -->
<xacro:macro name="wheel" params="prefix mesh mass_center color position">
<link name="${prefix}_wheel">
<inertial>
<origin xyz="${mass_center}" rpy="0 0 0" />
<mass value="0.083615304385799" />
<!--qian <inertia ixx="0.00034504118176367" ixy="-1.05210123445392E-10" ixz="1.09117751056064E-10" iyy="0.000617238444498718" iyz="-3.52033611009814E-09" izz="0.00345048952965297" /> -->
<!-- <inertia ixx="0.000645041181644452" ixy="-1.02836030755788E-5" ixz="1.03858733509779E-10" iyy="0.00617238444547154" iyz="-3.52038618447715E-09" izz="0.00064504895313491" /> -->
<inertia ixx="0.00010451913048224875"
ixy="-1.02836030755788E-5"
ixz="1.03858733509779E-10"
iyy="0.000261297820954496875"
iyz="-3.52038618447715E-09"
izz="0.00010451913048224875" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh}" />
</geometry>
<material name="wheel_material">
<color rgba="${color}" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh}"/>
</geometry>
</collision>
</link>
<joint name="${prefix}_wheel_joint" type="continuous">
<origin xyz="${position}" rpy="0 0 0" />
<parent link="${prefix}_steering_hinge" />
<child link="${prefix}_wheel" />
<axis xyz="0 1 0" />
<limit effort="6" velocity="800" />
<!-- <limit lower="-3.14159" upper="3.14159" effort="8" velocity="800" /> -->
</joint>
</xacro:macro>
<!-- rear wheel -->
<xacro:macro name="rear_wheel" params="prefix mesh mass_center color position">
<link name="${prefix}_rear_wheel">
<inertial>
<origin xyz="${mass_center}" rpy="0 0 0" />
<mass value="0.083615304385799" />
<inertia ixx="0.000645041181644452" ixy="-1.02836030755788E-5" ixz="-1.03858733509779E-10" iyy="0.00617238444547154" iyz="3.52038618447715E-09" izz="0.00064504895313491" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh}" />
</geometry>
<material name="wheel_material">
<color rgba="${color}" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh}" />
</geometry>
</collision>
</link>
<joint name="${prefix}_rear_wheel_joint" type="continuous">
<origin xyz="${position}" rpy="0 0 0" />
<parent link="base_link" />
<child link="${prefix}_rear_wheel" />
<axis xyz="0 1 0" />
<limit lower="-3.14159" upper="3.14159" effort="10" velocity="800" />
</joint>
</xacro:macro>
<!-- laser -->
<xacro:macro name="laser" params="name mesh color position">
<link name="${name}">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.136175408631878" />
<inertia ixx="5.05126026373552E-05" ixy="1.31150574294136E-08" ixz="1.65013289478E-06" iyy="7.08926003407945E-05" iyz="2.49898507713873E-09" izz="0.00010333009695655" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh}" />
</geometry>
<material name="sensor_material">
<color rgba="${color}" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh}" />
</geometry>
</collision>
</link>
<joint name="${name}_joint" type="fixed">
<origin xyz="${position}" rpy="0 0 0" />
<parent link="base_link" />
<child link="${name}" />
<axis xyz="0 0 0" />
</joint>
</xacro:macro>
<!-- Camera -->
<xacro:macro name="camera" params="name mesh color position">
<link name="${name}">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.128875262431144" />
<inertia ixx="0.000226098241375409" ixy="-7.63151331329159E-09" ixz="-6.02732800767945E-07" iyy="1.50549325275966E-05" iyz="-7.62743002721805E-10" izz="0.000225285047549157" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh}" />
</geometry>
<material name="camera_material">
<color rgba="${color}" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh}" />
</geometry>
</collision>
</link>
<joint name="${name}_joint" type="fixed">
<origin xyz="${position}" rpy="0 0 0" />
<parent link="base_link" />
<child link="${name}" />
<axis xyz="0 0 0" />
</joint>
</xacro:macro>
<!-- add imu link -->
<xacro:macro name="imu" params="name">
<link name="${name}">
<visual>
<geometry>
<box size="0.005 0.005 0.007"/>
</geometry>
</visual>
</link>
<joint name ="imu_joints" type="fixed">
<origin xyz="0.0 0.0 0.0035" rpy="0.0 0.0 0.0"/>
<parent link="base_link"/>
<child link="${name}"/>
</joint>
</xacro:macro>
<!-- create car body -->
<xacro:base_link mesh="${base_mesh}" color="${base_color}" />
<!-- create front wheel steering -->
<xacro:steering_hinge prefix="left" color="${wheel_color}" mass_center="0 0 0" position="0.17831 0.10435 0.0070129" rotation="0 0 0" />
<xacro:steering_hinge prefix="right" color="${wheel_color}" mass_center="0 0 0" position="0.17831 -0.10435 0.0070129" rotation="0 0 0" />
<!-- create front wheel -->
<xacro:wheel prefix="left" mesh="${left_wheel_mesh}" mass_center="0 -0.01 0" color="${wheel_color}" position="0 0.074 0" />
<xacro:wheel prefix="right" mesh="${right_wheel_mesh}" mass_center="0 0.01 0" color="${wheel_color}" position="0 -0.074 0" />
<!-- create rear wheel -->
<xacro:rear_wheel prefix="left" mesh="${left_rear_wheel_mesh}" mass_center="0 -0.01 0" color="${wheel_color}" position="-0.11072 0.18046 0.0099082" />
<xacro:rear_wheel prefix="right" mesh="${right_rear_wheel_mesh}" mass_center="0 0.01 0" color="${wheel_color}" position="-0.11072 -0.18046 0.0099082" />
<!-- create camera -->
<xacro:camera name="camera" mesh="${camera_mesh}" color="${camera_color}" position="0.21669 -0.00063349 0.142" />
<!-- create laser -->
<xacro:laser name="laser" mesh="${laser_mesh}" color="${sensor_color}" position="0.092303 5.3876E-05 0.2031" />
<!-- imu -->
<xacro:imu name="imu"/>
</robot>
models/meshes/base_link.stl
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models/meshes/camera.stl
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models/meshes/imu_link.stl
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models/meshes/laser_link.stl
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models/meshes/left_back_wheel_link.stl
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models/meshes/left_front_steer_link.stl
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models/meshes/left_front_wheel_link.stl
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models/meshes/right_back_wheel_link.stl
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models/meshes/right_front_steer_link.stl
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models/meshes/right_front_wheel_link.stl
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