Make IMU dimension specific

umigv · Jan 26, 2025 · dd941d5 · dd941d5
1 parent 80e4862
commit dd941d5
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Showing 3 changed files with 14 additions and 21 deletions.
diff --git a/common_xacro/urdf/sensor/imu.xacro b/common_xacro/urdf/sensor/imu.xacro
@@ -1,19 +1,15 @@
 <?xml version="1.0"?>
 
-<!-- Brief: Standard IMU -->
+<!-- Brief: IMU -->
 <!-- Shape, Collision, Inertia: Box with relevant collision and constant inertia -->
 <!-- Mounting Location: Bottom center of the IMU -->
 <!-- Joint Type: fixed -->
 <!-- Plugin: libgazebo_ros_imu_sensor.so -->
 <!-- Param name: the name of the IMU. Published topic is /{name}_controller/out -->
-<!-- Param mass: mass of the IMU -->
-<!-- Param length: length of the IMU -->
-<!-- Param width: width of the IMU -->
-<!-- Param height: height of the IMU -->
 <!-- Param parent: name of the parent link, defaulted to base_link -->
 <!-- Param joint_origin: location of the IMU relative to parent link -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="caster">
-    <xacro:macro name="imu" params="name mass length width height parent:=base_link *joint_origin">
+    <xacro:macro name="imu" params="name parent:=base_link *joint_origin">
         <!-- Includes -->
         <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
 
@@ -30,27 +26,27 @@
 
         <!-- Imu link -->
         <link name="${name}_link">
-		    <xacro:box_inertia mass="${mass}" length="${length}" width="${width}" height="${height}">
+		    <xacro:box_inertia mass="0.025" length="0.05" width="0.03" height="0.01">
                 <origin xyz="0 0 0" rpy="0 0 0" />
             </xacro:box_inertia>
 
             <visual>
                 <origin xyz="0 0 0" rpy="0 0 0"/>
                 <geometry>
-                    <box size="${length} ${width} ${height}"/>
+                    <box size="0.05 0.03 0.01"/>
                 </geometry>
             </visual>
 
             <collision>
                 <origin xyz="0 0 0" rpy="0 0 0"/>
                 <geometry>
-                    <box size="${length} ${width} ${height}"/>
+                    <box size="0.05 0.03 0.01"/>
                 </geometry>
             </collision>
         </link>
 
         <joint name="${name}_joint" type="fixed">
-            <origin xyz="0 0 ${height/2}" rpy="0 0 0"/>
+            <origin xyz="0 0 0.005" rpy="0 0 0"/>
             <parent link="${name}_base_link" />
             <child link="${name}_link" />
         </joint>

diff --git a/marvin_simulation/urdf/constants.xacro b/marvin_simulation/urdf/constants.xacro
@@ -28,30 +28,27 @@
 
 	<!-- Caster Constants -->
     <xacro:property name="caster_x_offset" value="${-24.625*0.0254}" />
+
     <xacro:property name="caster_radius" value="${3.5*0.0254}" />
     <xacro:property name="caster_mass" value="0.1" />
 
 	<!-- Wheel Constants -->
+    <xacro:property name="track_width" value="${31*0.0254}" />
+
     <xacro:property name="wheel_radius" value="${6.1875*0.0254}" />
     <xacro:property name="wheel_width" value="${4*0.0254}" />
     <xacro:property name="wheel_mass" value="5" />
-    <xacro:property name="track_width" value="${31*0.0254}" />
 
     <!-- Lidar Constants -->
     <xacro:property name="lidar_height" value="${32.55*0.0254}"/>
 
     <!-- Camera Constants -->
+    <xacro:property name="camera_x_offset" value="${(4+2.66916)*0.0254}"/> 
+    <xacro:property name="camera_z_offset" value="${(31-1.80395)*0.0254}"/> 
+    <xacro:property name="camera_angle" value="${10 * 0.01745327777}"/>
+
     <xacro:property name="camera_mass" value="0.230"/>
     <xacro:property name="camera_length" value="0.04310"/>
     <xacro:property name="camera_width" value="0.17525"/>
     <xacro:property name="camera_height" value="0.03025"/>
-    <xacro:property name="camera_angle" value="${10 * 0.01745327777}"/>
-    <xacro:property name="camera_x_offset" value="${(4+2.66916)*0.0254}"/> 
-    <xacro:property name="camera_z_offset" value="${(31-1.80395)*0.0254}"/> 
-
-    <!-- IMU Constants -->
-    <xacro:property name="imu_mass" value="0.025"/>
-    <xacro:property name="imu_length" value="0.05"/>
-    <xacro:property name="imu_width" value="0.03"/>
-    <xacro:property name="imu_height" value="0.01"/>
 </robot>
diff --git a/marvin_simulation/urdf/marvin.xacro b/marvin_simulation/urdf/marvin.xacro
@@ -55,7 +55,7 @@
 
 	<!-- IMU -->
     <xacro:include filename="$(find common_xacro)/urdf/sensor/imu.xacro" />
-    <xacro:imu name="imu" mass="${imu_mass}" length="${imu_length}" width="${imu_width}" height="${imu_height}">
+    <xacro:imu name="imu">
 		<origin xyz="${-chassis_tower_length / 2 - chassis_electrical_length/2} 0 ${chassis_electrical_height}" rpy="0 0 0" />
     </xacro:imu>