Revision as of 11:48, 23 June 2024

New URDF

• Turtlebot3 Waffle Nuc URDF Listing 20240622

Header Lines

<?xml version="1.0" ?>
<robot name="turtlebot3_waffle_nuc" xmlns:xacro="http://ros.org/wiki/xacro">

Intel Nuc Platform

<!-- Add nuc_link
  Add a platform for the Nuc
  5.0 x 10.5 x 0.25 inches
-->


<joint name="nuc_joint" type="fixed">
  <parent link="base_link"/>
  <child link="nuc_platform"/>
  <origin xyz="-0.137 0.0 0.092" rpy="0 0 0"/>
</joint>

<link name="nuc_platform">
  <visual>
    <geometry>
      <box size="0.127 0.267 0.00635"/> 
    </geometry>
    <material name="transparent black"/>
  </visual>
</link>

LIDAR Scan Platform

<!-- Add scanplatform_link
  Add a platform for the Nuc
  3.0 x 10.5 x 0.25 inches
-->


<joint name="scan_platform_joint" type="fixed">
  <parent link="nuc_platform"/>
  <child link="scan_platform_link"/>
  <origin xyz="-0.0127 0.0 0.0556" rpy="0 0 0"/>
</joint>


<link name="scan_platform_link">
  <visual>
    <geometry>
      <box size="0.063 0.267 0.00635"/> 
    </geometry>
    <material name="transparent black"/>
  </visual>
</link>

LIDAR Placement

Modifications to the LIDAR placement

  <!-- modify scan code to use scan_platform link as reference
       adjust scanner location -->
  
  <joint name="scan_joint" type="fixed">
    <parent link="scan_platform_link"/>
    <child link="base_scan"/>
    <origin xyz="-0.00635 0 0.0420" rpy="0 0 0"/>
  </joint>

  <link name="base_scan">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="dark"/>
    </visual>
...

Tools

check_urdf

$ check_urdf turtlebot3_waffle_nuc.urdf
  robot name is: turtlebot3_waffle_nuc
  ---------- Successfully Parsed XML ---------------
  root Link: base_footprint has 1 child(ren)
    child(1):  base_link
        child(1):  caster_back_left_link
        child(2):  caster_back_right_link
        child(3):  imu_link
        child(4):  line_link
        child(5):  nuc_platform
            child(1):  scan_platform_link
                child(1):  base_scan
        child(6):  wheel_left_link
        child(7):  wheel_right_link

graphiz

Execution

$ urdf_to_graphiz turtlebot3_waffle_nuc.urdf
    WARNING: The executable named 'urdf_to_graphiz' is deprecated. Use 'urdf_to_graphviz' instead.
    WARNING: OUTPUT not given. This type of usage is deprecated!Usage: urdf_to_graphviz input.xml [OUTPUT]  Will create either $ROBOT_NAME.gv & $ROBOT_NAME.pdf in CWD  or OUTPUT.gv & OUTPUT.pdf.
    Created file turtlebot3_waffle_nuc.gv
    Created file turtlebot3_waffle_nuc.pdf

Generated Files

 turtlebot3_waffle_nuc.pdf
 turtlebot3_waffle_nuc.gv

Display PDF