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Add rover 4wd noisy variants for segment_mapper_pr exercise #721

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Merged
javizqh merged 1 commit into from
May 12, 2026
Merged

Add rover 4wd noisy variants for segment_mapper_pr exercise #721

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226 changes: 226 additions & 0 deletions CustomRobots/rover_4wd_description/urdf/rover_4wd_noisy_high.urdf
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rover_4wd">

<xacro:property name="wheel_z_offset" value="0.020" />
<xacro:property name="wheel_x_offset" value="0.145" />
<xacro:property name="front_flipper_x_offset" value="-0.0035" />
<xacro:property name="wheel_y_offset" value="0.18" />
<xacro:property name="track_y_offset" value="0.11" />
<xacro:property name="wheel_mass" value="1.25" />
<xacro:property name="chassis_mass" value="4.53592" />

<xacro:property name="payload_z_offset" value="0.096" />
<xacro:include filename="$(find custom_robots)/urdf/accessories/rover_dev_payload.urdf" />
<xacro:include filename="$(find custom_robots)/urdf/accessories/rplidar_s2.urdf" />
<xacro:include filename="$(find custom_robots)/urdf/accessories/imu.urdf" />

<link name="base_link" />

<link name="chassis_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 -0 1.57" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/flipper_chassis.dae"/>
</geometry>
</visual>

<visual>
<origin xyz="0 ${track_y_offset} 0" rpy="1.57 3.1415 0" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/flipper_track.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 ${track_y_offset} 0" rpy="1.57 3.1415 0" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/flipper_track.dae"/>
</geometry>
</collision>

<visual>
<origin xyz="0 ${-track_y_offset} 0" rpy="1.57 3.1415 0" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/flipper_track.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 ${-track_y_offset} 0" rpy="1.57 3.1415 0" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/flipper_track.dae"/>
</geometry>
</collision>

<collision>
<origin xyz="0 0 0" rpy="1.57 -0 1.57" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/flipper_chassis.dae"/>
</geometry>
</collision>

<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="${chassis_mass}" />
<inertia ixx="0.028064" ixy="0.0" ixz="0.0" iyy="0.08226" iyz="0.0" izz="0.10258" />
</inertial>
</link>

<joint name="base_to_chassis" type="fixed">
<parent link="base_link"/>
<child link="chassis_link"/>
<origin xyz="0 0 0.125"/>
</joint>

<link name="fr_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="-1.57 0 0" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="-1.57 0 0" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="${wheel_mass}" />
<inertia ixx="0.005645" ixy="0.0" ixz="0.0" iyy="0.01008" iyz="0.0" izz="0.005645"/>
</inertial>
</link>
<joint name="fr_wheel_to_chassis" type="continuous">
<parent link="chassis_link"/>
<child link="fr_wheel_link"/>
<axis xyz="0 1 0"/>
<origin xyz="${wheel_x_offset + front_flipper_x_offset} ${-wheel_y_offset} 0" rpy="0 0 0"/>
</joint>

<link name="fl_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="1.57 0 0" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="${wheel_mass}" />
<inertia ixx="0.005645" ixy="0.0" ixz="0.0" iyy="0.01008" iyz="0.0" izz="0.005645"/>
</inertial>
</link>
<joint name="fl_wheel_to_chassis" type="continuous">
<parent link="chassis_link"/>
<child link="fl_wheel_link"/>
<axis xyz="0 1 0"/>
<origin xyz="${wheel_x_offset + front_flipper_x_offset} ${wheel_y_offset} 0" rpy="0 0 0"/>
</joint>

<link name="rr_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 3.1415" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="1.57 0 3.1415" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="${wheel_mass}" />
<inertia ixx="0.005645" ixy="0.0" ixz="0.0" iyy="0.01008" iyz="0.0" izz="0.005645"/>
</inertial>
</link>
<joint name="rr_wheel_to_chassis" type="continuous">
<parent link="chassis_link"/>
<child link="rr_wheel_link"/>
<axis xyz="0 1 0"/>
<origin xyz="${-wheel_x_offset} ${-wheel_y_offset} 0"/>
</joint>

<link name="rl_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="-1.57 0 3.1415" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="-1.57 0 3.1415" />
<geometry>
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="${wheel_mass}" />
<inertia ixx="0.005645" ixy="0.0" ixz="0.0" iyy="0.01008" iyz="0.0" izz="0.005645"/>
</inertial>
</link>
<joint name="rl_wheel_to_chassis" type="continuous">
<parent link="chassis_link"/>
<child link="rl_wheel_link"/>
<axis xyz="0 1 0"/>
<origin xyz="${-wheel_x_offset} ${wheel_y_offset} 0"/>
</joint>

<gazebo>
<plugin name="gz::sim::systems::DiffDrive" filename="gz-sim-diff-drive-system">
<num_wheel_pairs>2</num_wheel_pairs>
<left_joint>rl_wheel_to_chassis</left_joint>
<left_joint>fl_wheel_to_chassis</left_joint>
<right_joint>rr_wheel_to_chassis</right_joint>
<right_joint>fr_wheel_to_chassis</right_joint>
<wheel_separation>0.24</wheel_separation>
<wheel_radius>0.122</wheel_radius>
<max_linear_acceleration>0.5</max_linear_acceleration>
<min_linear_acceleration>-0.5</min_linear_acceleration>
<max_angular_acceleration>0.8</max_angular_acceleration>
<min_angular_acceleration>-0.8</min_angular_acceleration>
<frame_id>odom</frame_id>
<child_frame_id>base_link</child_frame_id>
<topic>/cmd_vel</topic>
<odom_topic>/odometry/wheels</odom_topic>
<tf_topic>/tf_gazebo</tf_topic>
</plugin>

<plugin name="gz::sim::systems::JointStatePublisher" filename="gz-sim-joint-state-publisher-system">
<topic>/joint_states</topic>
</plugin>

<plugin name="gz::sim::systems::OdometryPublisher" filename="gz-sim-odometry-publisher-system">
<odom_frame>odom</odom_frame>
<robot_base_frame>base_link</robot_base_frame>
<odom_topic>/odom</odom_topic>
<dimensions>3</dimensions>
</plugin>

<plugin filename="libNoisyOdometryPlugin.so" name="custom_plugins::NoisyOdometryPlugin">
<ros_topic>/odom</ros_topic>
<gz_cmd_vel_topic>/cmd_vel</gz_cmd_vel_topic>
<frame_id>odom</frame_id>
<child_frame_id>base_link</child_frame_id>
<alpha1>0.005</alpha1>
<alpha2>0.005</alpha2>
<alpha3>0.003</alpha3>
<alpha4>0.003</alpha4>
</plugin>
</gazebo>

<plugin filename="gz-sim-pose-publisher-system" name="gz::sim::systems::PosePublisher">
<publish_model_pose>true</publish_model_pose>
<publish_nested_model>true</publish_nested_model>
<publish_nested_model_pose>true</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
</plugin>

</robot>
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