Create model for swerve robot in gazebo.

RoboJackets / igvc-software

The code base for the RoboNav team's IGVC robot.

https://robojackets.org/teams/robonav/

MIT License

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Create model for swerve robot in gazebo. #721

Closed matthewhannay567 closed 3 years ago

matthewhannay567 commented 4 years ago

To start testing swerve bot code, we will need a model of a swerve bot in gazebo

JasonGibson274 commented 4 years ago

[ ] Create a an example serve module. Specifically a cylinder leg and use the Wheel.dae scaled to the correct size. This will be an a separate xarco file. You will also need to create a launch file that spawns the model (just bother me and we will do it together).
[ ] Write a ROS node to control the example swerve module. Speed set point for spinning the wheel and a position set point for rotating the wheel.
[ ] Then create 4 of them and make a node that controls all the wheel at the same time in a separate xacro file called swervi.urdf.xacro . Do not worry about the rest of the robot. I want to see 4 peg legs and some floating wheels.
[ ] Integrating all the sensors back into the new module.

Vikram-T commented 4 years ago

Here's the rough dimensions for Swervi: Swervi Extremely Tentative Dimensions.pdf

Vikram-T commented 4 years ago

And documentation wise: https://github.com/RoboJackets/igvc-software/blob/master/igvc_description/urdf/jessii.urdf.xacro is useful for reference

From what I figured it seemed that we need to create the robot in urdf in order to have it work with ROS. So I was using http://wiki.ros.org/urdf/Tutorials http://gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros to figure that out.

<visual> and fixed <joint>: link
Moveable joints : link
<inertial> (Required in order to spawn in gazebo) : link
http://gazebosim.org/tutorials/?tut=ros_control Is useful for understanding ros control which controls the joints and uses <transmission> tags

Vikram-T commented 4 years ago

Right now I basically have a single wheel and a cylinder leg that is spawned in gazebo on the branch swerve-xacro-model. Defined in /igvc_description/urdf/swervi.xacro.urdf and launched with igvc-software/igvc_description/launch/spawn_swervi.launch it it needs to be modified:

It needs 4 links:
1. a base link (center of robot),
2. leg
3. wheel hub
4. wheel
Connect the wheel hub to the wheel to make the wheel spin and the leg to the wheel hub to spin the whole assembly.
Have two transmissions total on that platform. static link from base_link to the leg.