Improve model and mecanum description for simulation

nanosaur_description/launch/description.launch.py

@@ -43,7 +43,6 @@ def launch_setup(context: LaunchContext, support_package):
     xacro_path = LaunchConfiguration('xacro_path')
     head_type = LaunchConfiguration('head_type')
     flap_type = LaunchConfiguration('flap_type')
-    diff_drive_emulation = LaunchConfiguration('diff_drive_emulation')
     use_nominal_extrinsics = LaunchConfiguration('use_nominal_extrinsics')
 
     robot_state_publisher_node = Node(
@@ -56,7 +55,6 @@ def launch_setup(context: LaunchContext, support_package):
                     'xacro ', xacro_path, ' ',
                     'head_type:=', head_type, ' ',
                     'flap_type:=', flap_type, ' ',
-                    'diff_drive_emulation:=', diff_drive_emulation, ' ',
                     'use_nominal_extrinsics:=', use_nominal_extrinsics, ' ',
                 ])
         }]
@@ -95,11 +93,6 @@ def generate_launch_description():
         default_value='empty',
         description='Flap type to use. Options: empty, LD06.')
 
-    declare_simulation_cmd = DeclareLaunchArgument(
-        name='diff_drive_emulation',
-        default_value='false',
-        description='Enable urdf for differential drive emulation, for simulation.')
-
     declare_use_nominal_extrinsics_cmd = DeclareLaunchArgument(
         name='use_nominal_extrinsics',
         default_value='false',
@@ -109,7 +102,6 @@ def generate_launch_description():
     ld = LaunchDescription()    
     ld.add_action(nanosaur_cmd)
     ld.add_action(declare_model_path_cmd)
-    ld.add_action(declare_simulation_cmd)
     ld.add_action(declare_head_type_cmd)
     ld.add_action(declare_flap_type_cmd)
     ld.add_action(declare_use_nominal_extrinsics_cmd)

nanosaur_description/launch/display.launch.py

@@ -41,7 +41,6 @@ def generate_launch_description():
     gui = LaunchConfiguration('gui')
     head_type = LaunchConfiguration('head_type')
     flap_type = LaunchConfiguration('flap_type')
-    diff_drive_emulation = LaunchConfiguration('diff_drive_emulation')
     rvizconfig = LaunchConfiguration('rvizconfig')
 
     default_rviz_config_path = os.path.join(nanosaur_description_path, 'rviz', 'urdf.rviz')
@@ -56,11 +55,6 @@ def generate_launch_description():
         default_value='empty',
         description='Flap type to use. Options: empty, LD06.')
 
-    declare_simulation_cmd = DeclareLaunchArgument(
-        name='diff_drive_emulation',
-        default_value='false',
-        description='Enable urdf for differential drive emulation, for simulation.')
-
     declare_gui_cmd = DeclareLaunchArgument(
         name='gui',
         default_value='True',
@@ -97,15 +91,14 @@ def generate_launch_description():
     # https://answers.ros.org/question/306935/ros2-include-a-launch-file-from-a-launch-file/
     description_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([nanosaur_description_path, '/launch/description.launch.py']),
-        launch_arguments={'head_type': head_type, 'flap_type': flap_type, 'diff_drive_emulation': diff_drive_emulation}.items()
+        launch_arguments={'head_type': head_type, 'flap_type': flap_type}.items()
         )
 
     # Define LaunchDescription variable and return it
     ld = LaunchDescription()
 
     ld.add_action(declare_head_type_cmd)
     ld.add_action(declare_flap_type_cmd)
-    ld.add_action(declare_simulation_cmd)
     ld.add_action(declare_gui_cmd)
     ld.add_action(declare_rvizconfig_cmd)
     ld.add_action(description_launch)

nanosaur_description/urdf/base.urdf.xacro

@@ -0,0 +1,162 @@
+<?xml version="1.0"?>
+<robot name="nanosaur_base" xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:macro name="nanosaur_base" params="base_name length width height mass">
+
+        <link name="${base_name}">
+            <collision>
+                <origin xyz="${nanosaur_body_offset_x} 0 ${height / 2 - nanosaur_wheel_offset_z}" rpy="0 0 0"/>
+                <geometry>
+                    <box size="${length} ${width} ${height}" />
+                </geometry>
+            </collision>
+
+            <xacro:inertial_box m="${mass}" x="${length}" y="${width}" z="${height}">
+                <origin xyz="${nanosaur_body_offset_x} 0 ${height / 2 - nanosaur_wheel_offset_z}" rpy="0 0 0"/>
+            </xacro:inertial_box>
+        </link>
+
+        <joint name="nansosaur_chassis_joint" type="fixed">
+            <origin xyz="0 0 ${0.042 - nanosaur_wheel_offset_z}" rpy="0 0 0"/>
+            <parent link="${base_name}"/>
+            <child link="nanosaur_chassis"/>
+        </joint>
+
+        <link name="nanosaur_chassis">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry><mesh filename="${path_meshes}/nanosaur_base.stl" scale="0.001 0.001 0.001"/></geometry>
+                <material name="Green" />
+            </visual>
+        </link>
+
+        <joint name="nanosaur_cover_batteries_joint" type="fixed">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <parent link="nanosaur_chassis"/>
+            <child link="nanosaur_cover_batteries"/>
+        </joint>
+
+        <link name="nanosaur_cover_batteries">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry><mesh filename="${path_meshes}/nanosaur_cover_batteries.stl" scale="0.001 0.001 0.001"/></geometry>
+                <material name="Green" />
+            </visual>
+        </link>
+
+        <joint name="nanosaur_cover_electronics_joint" type="fixed">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <parent link="nanosaur_chassis"/>
+            <child link="nanosaur_cover_electronics"/>
+        </joint>
+
+        <link name="nanosaur_cover_electronics">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry><mesh filename="${path_meshes}/nanosaur_cover_electronics.stl" scale="0.001 0.001 0.001"/></geometry>
+                <material name="Green" />
+            </visual>
+        </link>
+
+        <joint name="NVIDIA_jetson_joint" type="fixed">
+            <origin xyz="0.056 0.0078 0.0085" rpy="0 0 0"/>
+            <parent link="nanosaur_chassis"/>
+            <child link="NVIDIA_jetson"/>
+        </joint>
+
+        <link name="NVIDIA_jetson">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 ${M_PI}" />
+                <geometry><mesh filename="${path_meshes}/parts/NVIDIA_Jetson_Orin_Nano_DevKit.stl"/></geometry>
+                <material name="DarkGrey" />
+            </visual>
+        </link>
+
+        <joint name="motor2040_joint" type="fixed">
+            <origin xyz="0 0 -0.035" rpy="0 ${M_PI} 0"/>
+            <parent link="nanosaur_chassis"/>
+            <child link="motor2040"/>
+        </joint>
+
+        <link name="motor2040">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry><mesh filename="${path_meshes}/parts/motor2040.stl"/></geometry>
+                <material name="DarkGrey" />
+            </visual>
+        </link>
+
+
+        <joint name="nanosaur_PCB_electronics_joint" type="fixed">
+            <origin xyz="-0.046 -0.015 0.0225" rpy="0 0 0" />
+            <parent link="nanosaur_chassis"/>
+            <child link="nanosaur_PCB_electronics"/>
+        </joint>
+
+        <link name="nanosaur_PCB_electronics">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry><mesh filename="${path_meshes}/parts/nanosaur_PCB_electronics.stl"/></geometry>
+                <material name="DarkGrey" />
+            </visual>
+        </link>
+
+        <joint name="nanosaur_PCB_oleds_joint" type="fixed">
+            <origin xyz="0.053 0 0.037" rpy="0 ${M_PI / 5.5} 0" />
+            <parent link="nanosaur_chassis"/>
+            <child link="nanosaur_PCB_oleds"/>
+        </joint>
+
+        <link name="nanosaur_PCB_oleds">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 ${M_PI / 2}" />
+                <geometry><mesh filename="${path_meshes}/parts/nanosaur_PCB_oleds.stl"/></geometry>
+                <material name="DarkGrey" />
+            </visual>
+        </link>
+
+        <joint name="display_left_joint" type="fixed">
+            <origin xyz="-0.0122 0.021 0.003" rpy="0 0 0" />
+            <parent link="nanosaur_PCB_oleds"/>
+            <child link="display_left"/>
+        </joint>
+
+        <link name="display_left">
+            <inertial>
+                <mass value="0.01"/>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
+            </inertial>
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
+                <geometry>
+                    <mesh filename="${path_meshes}/parts/OLED_Module.stl"/>
+                </geometry>
+                <material name="Black" />
+            </visual>
+        </link>
+
+        <joint name="display_right_joint" type="fixed">
+            <origin xyz="-0.0122 -0.021 0.003" rpy="0 0 0" />
+            <parent link="nanosaur_PCB_oleds"/>
+            <child link="display_right"/>
+        </joint>
+
+        <link name="display_right">
+            <inertial>
+                <mass value="0.01"/>
+                <origin rpy=" 0 0 0" xyz="0 0 0"/>
+                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
+            </inertial>
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
+                <geometry>
+                    <mesh filename="${path_meshes}/parts/OLED_Module.stl"/>
+                </geometry>
+                <material name="Black" />
+            </visual>
+        </link>
+
+    </xacro:macro>
+
+</robot>