use wheel mount point instead of wheel separation

husarion · Feb 5, 2025 · 1f04313 · 1f04313
1 parent be0e8da
commit 1f04313
Show file tree

Hide file tree

Showing 7 changed files with 47 additions and 24 deletions.
diff --git a/husarion_ugv_description/config/WH01.yaml b/husarion_ugv_description/config/WH01.yaml
@@ -1,6 +1,6 @@
 wheel_radius: 0.1825
 wheel_width: 0.14
-wheel_separation: 0.697
+mount_point_offset: 0.091
 mass: 3.0
 inertia: { ixx: 0.022510, iyy: 0.034850, izz: 0.022510 }
 inertia_y_offset: 0.0

diff --git a/husarion_ugv_description/config/WH02.yaml b/husarion_ugv_description/config/WH02.yaml
@@ -1,6 +1,6 @@
 wheel_radius: 0.1016
 wheel_width: 0.08
-wheel_separation: 0.6785
+mount_point_offset: 0.08165
 mass: 2.4
 inertia: { ixx: 0.010050, iyy: 0.016496, izz: 0.010068 }
 inertia_y_offset: 0.0

diff --git a/husarion_ugv_description/config/WH04.yaml b/husarion_ugv_description/config/WH04.yaml
@@ -1,6 +1,6 @@
 wheel_radius: 0.1016
 wheel_width: 0.04
-wheel_separation: 0.616
+mount_point_offset: 0.06
 mass: 0.85
 inertia: { ixx: 0.003099, iyy: 0.005849, izz: 0.003101 }
 inertia_y_offset: 0.0

diff --git a/husarion_ugv_description/config/WH05.yaml b/husarion_ugv_description/config/WH05.yaml
@@ -1,6 +1,6 @@
 wheel_radius: 0.1348
 wheel_width: 0.09
-wheel_separation: 0.45
+mount_point_offset: 0.06
 # TODO change inertia and mass when ready
 mass: 2.5
 inertia: { ixx: 0.014738, iyy: 0.0261, izz: 0.014738 }

diff --git a/husarion_ugv_description/urdf/common/wheel.urdf.xacro b/husarion_ugv_description/urdf/common/wheel.urdf.xacro
@@ -2,36 +2,49 @@
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
 
   <!-- wheel defining macro -->
-  <xacro:macro name="wheel" params="wheel_config wheel_separation_x prefix">
+  <xacro:macro name="wheel"
+    params="wheel_config prefix wheel_mount_point_x wheel_mount_point_y">
 
     <xacro:if value="${prefix == 'fl'}">
-      <xacro:property name="x" value="${wheel_separation_x/2.0}" />
-      <xacro:property name="y" value="${wheel_config['wheel_separation']/2.0}" />
+      <xacro:property name="x" value="${wheel_mount_point_x}" />
+      <xacro:property name="y" value="${wheel_mount_point_y}" />
+      <xacro:property name="mount_point_offset" value="${wheel_config['mount_point_offset']}" />
       <xacro:property name="inertia_y_offset" value="${wheel_config['inertia_y_offset']}" />
       <xacro:property name="fdir" value="1 -1 0" />
     </xacro:if>
     <xacro:if value="${prefix == 'fr'}">
-      <xacro:property name="x" value="${wheel_separation_x/2.0}" />
-      <xacro:property name="y" value="-${wheel_config['wheel_separation']/2.0}" />
+      <xacro:property name="x" value="${wheel_mount_point_x}" />
+      <xacro:property name="y" value="-${wheel_mount_point_y}" />
+      <xacro:property name="mount_point_offset" value="-${wheel_config['mount_point_offset']}" />
       <xacro:property name="inertia_y_offset" value="${-wheel_config['inertia_y_offset']}" />
       <xacro:property name="fdir" value="1 1 0" />
     </xacro:if>
     <xacro:if value="${prefix == 'rl'}">
-      <xacro:property name="x" value="-${wheel_separation_x/2.0}" />
-      <xacro:property name="y" value="${wheel_config['wheel_separation']/2.0}" />
+      <xacro:property name="x" value="-${wheel_mount_point_x}" />
+      <xacro:property name="y" value="${wheel_mount_point_y}" />
+      <xacro:property name="mount_point_offset" value="${wheel_config['mount_point_offset']}" />
       <xacro:property name="inertia_y_offset" value="${wheel_config['inertia_y_offset']}" />
       <xacro:property name="fdir" value="1 1 0" />
     </xacro:if>
     <xacro:if value="${prefix == 'rr'}">
-      <xacro:property name="x" value="-${wheel_separation_x/2.0}" />
-      <xacro:property name="y" value="-${wheel_config['wheel_separation']/2.0}" />
+      <xacro:property name="x" value="-${wheel_mount_point_x}" />
+      <xacro:property name="y" value="-${wheel_mount_point_y}" />
+      <xacro:property name="mount_point_offset" value="-${wheel_config['mount_point_offset']}" />
       <xacro:property name="inertia_y_offset" value="${-wheel_config['inertia_y_offset']}" />
       <xacro:property name="fdir" value="1 -1 0" />
     </xacro:if>
 
-    <joint name="${prefix}_wheel_joint" type="continuous">
+    <joint name="base_to_${prefix}_wheel_base_joint" type="fixed">
       <origin xyz="${x} ${y} 0.0" rpy="0.0 0.0 0.0" />
       <parent link="base_link" />
+      <child link="${prefix}_wheel_base_link" />
+    </joint>
+
+    <link name="${prefix}_wheel_base_link" />
+
+    <joint name="${prefix}_wheel_joint" type="continuous">
+      <origin xyz="0.0 ${mount_point_offset} 0.0" rpy="0.0 0.0 0.0" />
+      <parent link="${prefix}_wheel_base_link" />
       <child link="${prefix}_wheel_link" />
       <axis xyz="0.0 1.0 0.0" />
 

diff --git a/husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro b/husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro
@@ -14,7 +14,8 @@
     <xacro:property name="ns" value='${namespace + "/" if namespace else ""}' />
 
     <xacro:property name="wheel_config" value="${xacro.load_yaml(wheel_config_file)}" />
-    <xacro:property name="wheel_separation_x" value="0.35" />
+    <xacro:property name="wheelbase" value="0.35" />
+    <xacro:property name="wheel_mount_point_y" value="0.1675" />
 
     <!-- INCLUDE ROBOT PARTS DEFINITIONS -->
     <xacro:include filename="$(find husarion_ugv_description)/urdf/lynx/base.urdf.xacro" ns="body" />
@@ -30,22 +31,26 @@
     <!-- WHEEL DECLARATION -->
     <xacro:wheel.wheel
       wheel_config="${wheel_config}"
-      wheel_separation_x="${wheel_separation_x}"
+      wheel_mount_point_x="${wheelbase/2.0}"
+      wheel_mount_point_y="${wheel_mount_point_y}"
       prefix="fl" />
 
     <xacro:wheel.wheel
       wheel_config="${wheel_config}"
-      wheel_separation_x="${wheel_separation_x}"
+      wheel_mount_point_x="${wheelbase/2.0}"
+      wheel_mount_point_y="${wheel_mount_point_y}"
       prefix="fr" />
 
     <xacro:wheel.wheel
       wheel_config="${wheel_config}"
-      wheel_separation_x="${wheel_separation_x}"
+      wheel_mount_point_x="${wheelbase/2.0}"
+      wheel_mount_point_y="${wheel_mount_point_y}"
       prefix="rl" />
 
     <xacro:wheel.wheel
       wheel_config="${wheel_config}"
-      wheel_separation_x="${wheel_separation_x}"
+      wheel_mount_point_x="${wheelbase/2.0}"
+      wheel_mount_point_y="${wheel_mount_point_y}"
       prefix="rr" />
 
     <ros2_control name="${ns}lynx_system" type="system">

diff --git a/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro b/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro
@@ -19,7 +19,8 @@
     <xacro:property name="ns" value='${namespace + "/" if namespace else ""}' />
 
     <xacro:property name="wheel_config" value="${xacro.load_yaml(wheel_config_file)}" />
-    <xacro:property name="wheel_separation_x" value="0.44" />
+    <xacro:property name="wheelbase" value="0.44" />
+    <xacro:property name="wheel_mount_point_y" value="0.2575" />
 
     <!-- INCLUDE ROBOT PARTS DEFINITIONS -->
     <xacro:include filename="$(find husarion_ugv_description)/urdf/panther/base.urdf.xacro" ns="body" />
@@ -35,22 +36,26 @@
     <!-- WHEEL DECLARATION -->
     <xacro:wheel.wheel
       wheel_config="${wheel_config}"
-      wheel_separation_x="${wheel_separation_x}"
+      wheel_mount_point_x="${wheelbase/2.0}"
+      wheel_mount_point_y="${wheel_mount_point_y}"
       prefix="fl" />
 
     <xacro:wheel.wheel
       wheel_config="${wheel_config}"
-      wheel_separation_x="${wheel_separation_x}"
+      wheel_mount_point_x="${wheelbase/2.0}"
+      wheel_mount_point_y="${wheel_mount_point_y}"
       prefix="fr" />
 
     <xacro:wheel.wheel
       wheel_config="${wheel_config}"
-      wheel_separation_x="${wheel_separation_x}"
+      wheel_mount_point_x="${wheelbase/2.0}"
+      wheel_mount_point_y="${wheel_mount_point_y}"
       prefix="rl" />
 
     <xacro:wheel.wheel
       wheel_config="${wheel_config}"
-      wheel_separation_x="${wheel_separation_x}"
+      wheel_mount_point_x="${wheelbase/2.0}"
+      wheel_mount_point_y="${wheel_mount_point_y}"
       prefix="rr" />
 
     <ros2_control name="${ns}panther_system" type="system">