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javizqhjavizqh
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Improve ackermann car
1 parent 0d524c8 commit 3b8802b

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Lines changed: 59 additions & 86 deletions

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  • CustomRobots/ackermann_cars/models/f1_renault_camera

‎CustomRobots/ackermann_cars/models/f1_renault_camera/model.sdf‎

Lines changed: 59 additions & 86 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
<?xml version="1.0"?>
22
<sdf version="1.6">
33

4-
<model name="f1_renault_ackermann_harmonic_laser">
4+
<model name="f1_renault_ackermann">
55
<pose>0 0 0.0 0 0 0</pose>
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77
<link name='base_link'>
@@ -45,17 +45,6 @@
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<uri>model://f1_renault_camera/Renault/chasis.dae</uri>
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</mesh>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<friction>
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<ode>
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<mu>0.2</mu>
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<mu2>0.2</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='chassis_link_fixed_joint_lump__chassis_link_visual'>
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<!-- <pose>0 1.51 0 0 -0 1.5708</pose> -->
@@ -100,18 +89,16 @@
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<izz>1.04961</izz>
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</inertia>
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</inertial>
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<collision name='bl_1_collision'>
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<pose>0.175 0.20252 0.028 0 -0 0</pose>
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93+
<collision name="bl_1_collision">
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<pose>0 0 0 0 1.57 0</pose>
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<geometry>
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<mesh>
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<scale>0.0002 0.0002 0.0002</scale>
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<uri>model://f1_renault_camera/Renault/bl_1.stl</uri>
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</mesh>
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<cylinder>
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<radius>0.065</radius>
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<length>0.05</length>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<friction>
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<ode>
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<mu>1.7</mu>
@@ -120,8 +107,10 @@
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</friction>
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</surface>
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</collision>
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<visual name='bl_1_visual'>
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<!-- <pose>0.875 1.0136 0.1444 0 -0 0</pose> -->
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<pose>0.175 0.028 -0.20252 0 -0 0</pose>
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<geometry>
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<mesh>
@@ -163,18 +152,16 @@
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<izz>1.04961</izz>
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</inertia>
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</inertial>
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<collision name='br_1_collision'>
167-
<pose>-0.175 0.20252 0.028 0 0 0</pose>
155+
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<collision name="br_1_collision">
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<pose>0 0 0 0 1.57 0</pose>
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<geometry>
169-
<mesh>
170-
<scale>0.0002 0.0002 0.0002</scale>
171-
<uri>model://f1_renault_camera/Renault/br_1.stl</uri>
172-
</mesh>
159+
<cylinder>
160+
<radius>0.065</radius>
161+
<length>0.05</length>
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</cylinder>
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</geometry>
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<surface>
175-
<contact>
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<ode />
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</contact>
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<friction>
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<ode>
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<mu>1.7</mu>
@@ -183,8 +170,10 @@
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</friction>
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</surface>
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</collision>
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<visual name='br_1_visual'>
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<!-- <pose>-0.875 1.0136 0.1444 0 -0 0</pose> -->
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<pose>-0.175 0.028 -0.20252 0 -0 0</pose>
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<geometry>
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<mesh>
@@ -194,7 +183,7 @@
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</geometry>
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</visual>
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<self_collide>0</self_collide>
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</link>
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</link>
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<!-- Steering Wheel -->
@@ -243,10 +232,10 @@
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</mesh>
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</geometry>
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</visual>
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<self_collide>1</self_collide>
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<self_collide>0</self_collide>
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</link>
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<!-- Left Steering -->
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<!-- <joint name='l_steer' type='revolute'>
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<pose relative_to='chassis_link'>-0.825 1.51736 0.324997 0 -0 0</pose>
@@ -346,28 +335,27 @@
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<izz>1.04961</izz>
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</inertia>
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</inertial>
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<collision name='fl_1_collision'>
350-
<pose>0.175 -0.30348 0.02888 0 -0 0</pose>
338+
339+
<collision name="fl_1_collision">
340+
<pose>0 0 0 0 1.57 0</pose>
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<geometry>
352-
<mesh>
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<scale>0.0002 0.0002 0.0002</scale>
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<uri>model://f1_renault_camera/Renault/fl_1.stl</uri>
355-
</mesh>
342+
<cylinder>
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<radius>0.065</radius>
344+
<length>0.05</length>
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</cylinder>
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</geometry>
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<surface>
358-
<contact>
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<ode />
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</contact>
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<friction>
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<ode>
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<mu>1.1</mu>
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<mu2>1.1</mu2>
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<mu>1.7</mu>
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<mu2>1.7</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='fl_1_visual'>
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<!-- <pose>0.875 -1.5174 0.1444 0 -0 0</pose> -->
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<pose>0.175 0.02888 0.30348 0 -0 0</pose>
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<geometry>
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<mesh>
@@ -378,7 +366,7 @@
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</visual>
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<self_collide>0</self_collide>
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</link>
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<!-- Right Steering -->
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<!-- <joint name='r_steer' type='revolute'>
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<pose relative_to='chassis_link'>0.825 1.51736 0.324997 0 -0 0</pose>
@@ -443,18 +431,15 @@
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<izz>1.04961</izz>
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</inertia>
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</inertial>
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<collision name='fr_1_collision'>
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<pose>-0.175 -0.30348 0.02888 0 -0 0</pose>
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<collision name="fr_1_collision">
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<pose>0 0 0 0 1.57 0</pose>
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<geometry>
449-
<mesh>
450-
<scale>0.0002 0.0002 0.0002</scale>
451-
<uri>model://f1_renault_camera/Renault/fr_1.stl</uri>
452-
</mesh>
437+
<cylinder>
438+
<radius>0.065</radius>
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<length>0.05</length>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<friction>
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<ode>
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<mu>1.7</mu>
@@ -464,7 +449,6 @@
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</surface>
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</collision>
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<visual name='fr_1_visual'>
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<!-- <pose>-0.875 -1.5174 0.1444 0 -0 0</pose> -->
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<pose>-0.175 0.02888 0.30348 0 -0 0</pose>
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<geometry>
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<mesh>
@@ -474,7 +458,7 @@
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</geometry>
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</visual>
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</link>
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<link name="camera_link"/>
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<link name="camera_rgb_frame">
@@ -491,29 +475,25 @@
491475
<mass>0.035</mass>
492476
</inertial>
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494-
<!-- OLD POSE -->
495-
<!-- <pose>0.0138 -0.0094 0.0214 0 0 0</pose> -->
496-
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<!-- NEW POSE -->
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<pose>0 2.7 0.2 0 0 1.57</pose>
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500480
<sensor name="camera" type="camera">
501481
<always_on>true</always_on>
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<visualize>true</visualize>
503-
<update_rate>30</update_rate>
483+
<update_rate>20.0</update_rate>
504484
<topic>/cam_f1_left/image_raw</topic>
505485
<gz_frame_id>camera_rgb_frame</gz_frame_id>
506-
<camera name="intel_realsense_r200">
486+
<camera name="cleft">
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<camera_info_topic>/cam_f1_left/camera_info</camera_info_topic>
508-
<horizontal_fov>1.02974</horizontal_fov>
488+
<horizontal_fov>1.570000</horizontal_fov>
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<image>
510-
<width>1920</width>
511-
<height>1080</height>
490+
<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
515-
<near>0.02</near>
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<far>300</far>
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<near>0.100000</near>
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<far>15.000000</far>
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</clip>
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<noise>
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<type>gaussian</type>
@@ -523,7 +503,7 @@
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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</camera>
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</sensor>
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</link>
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@@ -546,7 +526,7 @@
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</joint>
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<!-- Gazebo Harmonic Plugins -->
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<!-- Ackermann Steering Plugin -->
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<plugin filename="gz-sim-ackermann-steering-system" name="gz::sim::systems::AckermannSteering">
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<left_joint>fl_axle</left_joint>
@@ -555,12 +535,14 @@
555535
<right_joint>br_axle</right_joint>
556536
<left_steering_joint>front_steering</left_steering_joint>
557537
<right_steering_joint>front_steering</right_steering_joint>
558-
<kingpin_width>1.65</kingpin_width>
559-
<steering_limit>0.3</steering_limit>
560-
<wheel_base>3.351</wheel_base>
561-
<wheel_separation>1.65</wheel_separation>
562-
<wheel_radius>0.3425</wheel_radius>
563-
<sub_topic>steer_angle</sub_topic>
538+
539+
<kingpin_width>0.32</kingpin_width>
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<steering_limit>0.52</steering_limit>
541+
542+
<wheel_base>0.6702</wheel_base>
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<wheel_separation>0.33</wheel_separation>
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<wheel_radius>0.0325</wheel_radius>
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<min_velocity>-50</min_velocity>
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<max_velocity>50</max_velocity>
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<min_acceleration>-50</min_acceleration>
@@ -593,23 +575,14 @@
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<odom_topic>F1ROS/odom</odom_topic>
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<robot_base_frame>chassis_link</robot_base_frame>
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<odom_frame>odom</odom_frame>
596-
<odom_publish_frequency>50</odom_publish_frequency>
578+
<odom_publish_frequency>20</odom_publish_frequency>
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<dimensions>3</dimensions>
598580
</plugin>
599581

600-
<!-- Pose Publisher -->
601-
<plugin filename="gz-sim-pose-publisher-system" name="gz::sim::systems::PosePublisher">
602-
<publish_link_pose>true</publish_link_pose>
603-
<publish_collision_pose>false</publish_collision_pose>
604-
<publish_visual_pose>false</publish_visual_pose>
605-
<publish_nested_model_pose>true</publish_nested_model_pose>
606-
<update_frequency>50</update_frequency>
607-
</plugin>
608-
609582
<!-- Joint Position Controller for steering wheel (optional) -->
610583
<plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
611584
<joint_name>steering_joint</joint_name>
612-
<sub_topic>steering_wheel_cmd</sub_topic>
585+
<topic>/F1ROS/cmd_vel</topic>
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<p_gain>10</p_gain>
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<i_gain>0.1</i_gain>
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<d_gain>1</d_gain>

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