Add mecanum wheels to description package (#5)

* added models for mecanum wheels Signed-off-by: Aleksander Szymański <[email protected]> * added macros in xacro robot description for mecanum wheels Signed-off-by: Aleksander Szymański <[email protected]> * added flag for choosing the wheel model in launch files Signed-off-by: Aleksander Szymański <[email protected]> * remove redundant flags from xacro command Signed-off-by: Aleksander Szymański <[email protected]> * added mecanum_wheels param to leo_sim macro Signed-off-by: Aleksander Szymański <[email protected]> * added argument for mecanum wheels in leo_sim urdf file Signed-off-by: Aleksander Szymański <[email protected]> --------- Signed-off-by: Aleksander Szymański <[email protected]>
LeoRover · Oct 30, 2023 · 847afe8 · 847afe8
1 parent 5ab5cd1
commit 847afe8
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Showing 8 changed files with 2,597 additions and 15 deletions.
diff --git a/leo_description/launch/description.launch b/leo_description/launch/description.launch
@@ -2,7 +2,9 @@
 
   <arg name="model" default="$(find leo_description)/urdf/leo.urdf.xacro"/>
 
+  <arg name="mecanum_wheels" default="false"/>
+
   <param name="robot_description" 
-         command="xacro --inorder $(arg model)"/>
+         command="xacro $(arg model) mecanum_wheels:=$(arg mecanum_wheels)"/>
 
 </launch>
diff --git a/leo_description/launch/state_publisher.launch b/leo_description/launch/state_publisher.launch
@@ -1,6 +1,10 @@
 <launch>
 
-  <include file="$(find leo_description)/launch/description.launch"/>
+  <arg name="mecanum_wheels" default="false"/>
+
+  <include file="$(find leo_description)/launch/description.launch">
+    <param name="mecanum_wheels" value="$(arg mecanum_wheels)"/>
+  </include>
 
   <node name="robot_state_publisher"
         pkg="robot_state_publisher"

diff --git a/leo_description/models/Mecanum_wheel_outline.stl b/leo_description/models/Mecanum_wheel_outline.stl
diff --git a/leo_description/models/WheelMecanumA.dae b/leo_description/models/WheelMecanumA.dae