Kenwood
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lewis-crawler
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Like none of this works but it is cool as heck

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Kenwood 2022-03-27 16:34:29 -04:00
parent f0bab10e25
commit 2693da2cc1
2 changed files with 100 additions and 17 deletions
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2
Simulation/Lewis_Crawler/model.config
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@ -1,6 +1,6 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<model> <model>
<name>Lewis Crawler</name> <name>Lewis_Crawler</name>
<version>1.0</version> <version>1.0</version>
<sdf version="1.7">model.sdf</sdf> <sdf version="1.7">model.sdf</sdf>
<author> <author>

111
Simulation/Lewis_Crawler/model.sdf
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@ -1,26 +1,109 @@
<?xml version='1.0'?> <?xml version='1.0'?>
<sdf version='1.4'> <sdf version='1.7'>
<model name="Lewis_Crawler"> <model name='Lewis_Crawler'>
<static>true</static>
<link name='chassis'> <link name='chassis'>
<pose>0 0 .1 0 0 0</pose>
<collision name='collision'> <pose>-0.1524 -0.1 0.0508 0 0 0</pose>
<geometry>
<box>
<size>.4 .2 .1</size>
</box>
</geometry>
</collision>
<visual name='visual'> <visual name='visual'>
<pose>0 0 0 0 0 0</pose>
<geometry> <geometry>
<box> <mesh>
<size>.4 .2 .1</size> <uri>/home/joe/git/lewis-crawler/Simulation/Meshes/LCFrame.dae</uri>
</box> <scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='pixel' />
</material>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>/home/joe/git/lewis-crawler/Simulation/Meshes/LCFrame.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
</link>
<link name="port_wheel">
<pose>0.1524 0 0.1016 0 1.5707 0</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>.1</radius>
<length>.05</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>.1</radius>
<length>.05</length>
</cylinder>
</geometry> </geometry>
</visual> </visual>
</link> </link>
<link name="starboard_wheel">
<pose>-0.1524 0 0.1016 0 1.5707 0</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>.1</radius>
<length>.05</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>.1</radius>
<length>.05</length>
</cylinder>
</geometry>
</visual>
</link>
<joint type="port_wheel" name="port_wheel_axle">
<pose>0 0 -0.03 0 0 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="starboard_wheel" name="starboard_wheel_axle">
<pose>0 0 0.03 0 0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model> </model>
</sdf> </sdf>