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Fix inertias by introducing a macro
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@christophfroehlich
christophfroehlich committed Aug 11, 2023
1 parent 3c91f0f commit 4179dd6
Showing 1 changed file with 42 additions and 42 deletions.
84 changes: 42 additions & 42 deletions gazebo_ros2_control_demos/urdf/test_pendulum_effort.xacro.urdf
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Original file line number Diff line number Diff line change
@@ -1,10 +1,36 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from cartpole.xacro.urdf | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="cartopole">
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="pendulum on cart">

<xacro:macro name="quadr_block" params="mass width height name">
<link name="${name}">
<collision>
<geometry>
<box size="${width} ${width} ${height}"/>
</geometry>
<origin xyz="0 0 ${height/2}"/>
</collision>
<visual>
<geometry>
<box size="${width} ${width} ${height}"/>
</geometry>
<origin xyz="0 0 ${height/2}"/>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
<inertial>
<origin xyz="0 0 ${height/2}" rpy="0 0 0"/>
<mass value="${mass}"/>
<inertia
ixx="${mass / 12.0 * (width*width + height*height)}" ixy="0.0" ixz="0.0"
iyy="${mass / 12.0 * (height*height + width*width)}" iyz="0.0"
izz="${mass / 12.0 * (width*width + width*width)}"/>
</inertial>
</link>
</xacro:macro>

<link name="world"/>

<link name="slideBar">
<visual>
<geometry>
Expand All @@ -20,59 +46,33 @@
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="cart">
<visual>
<geometry>
<box size="0.5 0.5 0.2"/>
</geometry>
<origin xyz="0 0 0"/>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>

<link name="pendulum">
<visual>
<geometry>
<box size="0.2 0.2 1.0"/>
</geometry>
<origin xyz="0 0 -0.4"/>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
<origin xyz="0 0 -0.4"/>
</inertial>
</link>
<xacro:quadr_block name="cart" mass="10" width="0.5" height="0.2"/>

<xacro:quadr_block name="pendulum" mass="1" width="0.2" height="1.0"/>

<joint name="world_to_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 1"/>
<parent link="world"/>
<child link="slideBar"/>
</joint>

<joint name="slider_to_cart" type="prismatic">
<axis xyz="1 0 0"/>
<origin xyz="0.0 0.0 0.0"/>
<parent link="slideBar"/>
<child link="cart"/>
<limit effort="1000.0" lower="-15" upper="15" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
<dynamics damping="0.3" friction="0.0"/>
</joint>

<joint name="cart_to_pendulum" type="revolute">
<axis xyz="0 1 0"/>
<origin xyz="0.0 0.35 0.0"/>
<origin xyz="0.0 0.35 0.0" rpy="0 0 0"/>
<parent link="cart"/>
<child link="pendulum"/>
<limit effort="1000.0" lower="-10000" upper="10000" velocity="30"/>
<dynamics damping="0.1" friction="0.1"/>
<limit effort="10000.0" lower="-100000" upper="100000" velocity="100000"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>

<ros2_control name="GazeboSystem" type="system">
Expand All @@ -93,7 +93,7 @@
<joint name="cart_to_pendulum">
<state_interface name="position">
<!-- this does not work if no command interface is set -->
<param name="initial_value">1.57</param>
<!-- <param name="initial_value">1.57</param> -->
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
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