sl-jetson
cea3eaff97
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers - can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE) - test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions - All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced: * Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO * Device paths: /dev/stm32-bridge → /dev/esp32-io * Node names: stm32_serial_bridge → esp32_io_serial_bridge * hardware_id: stm32f722 → esp32s3-balance/esp32s3-io - C/C++ src/include/lib/test files: added DEPRECATED header comment - Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test, saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all chassis, docs, scripts, and project files Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
250 lines
7.4 KiB
XML
250 lines
7.4 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="saltybot">
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<!--
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SaltyBot URDF Description
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Robot Configuration:
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- Base: Wheeled differential drive platform
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- Footprint: ~0.4m x 0.4m (square base)
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- Height: ~0.3m to sensor payload
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- Sensors:
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* RPLIDAR A1M8 (360° scanning LiDAR)
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* RealSense D435i (RGB-D camera + IMU)
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* ICM-42688-P (9-DOF IMU, ESP32-S3 BALANCE)
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- Actuators:
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* 2x differential drive motors
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* Pan/Tilt servos for camera
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-->
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<!-- Constants -->
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<xacro:property name="PI" value="3.14159265359" />
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<xacro:property name="base_mass" value="2.5" />
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<xacro:property name="wheel_radius" value="0.0475" />
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<xacro:property name="wheel_separation" value="0.380" />
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<xacro:property name="footprint_x" value="0.40" />
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<xacro:property name="footprint_y" value="0.40" />
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<xacro:property name="footprint_z" value="0.15" />
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<!-- Base Footprint -->
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<link name="base_footprint" />
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<!-- Base Link (Robot Center) -->
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<link name="base_link">
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<inertial>
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<origin xyz="0 0 0.08" rpy="0 0 0" />
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<mass value="${base_mass}" />
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<!-- Rough rectangular inertia approximation -->
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<inertia ixx="0.020" ixy="0.0" ixz="0.0" iyy="0.020" iyz="0.0" izz="0.030" />
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</inertial>
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<visual>
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<origin xyz="0 0 0.075" rpy="0 0 0" />
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<geometry>
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<box size="${footprint_x} ${footprint_y} ${footprint_z}" />
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</geometry>
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<material name="dark_gray">
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<color rgba="0.25 0.25 0.25 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0.075" rpy="0 0 0" />
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<geometry>
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<box size="${footprint_x} ${footprint_y} ${footprint_z}" />
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</geometry>
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</collision>
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</link>
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<!-- Footprint to Base Transform (Z-only, footprint at ground level) -->
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<joint name="base_footprint_joint" type="fixed">
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<origin xyz="0 0 ${footprint_z}" rpy="0 0 0" />
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<parent link="base_footprint" />
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<child link="base_link" />
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</joint>
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<!-- Left Wheel -->
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<link name="left_wheel_link">
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<inertial>
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<mass value="0.2" />
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<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0" />
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<geometry>
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<cylinder radius="${wheel_radius}" length="0.03" />
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</geometry>
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<material name="black">
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<color rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0" />
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<geometry>
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<cylinder radius="${wheel_radius}" length="0.03" />
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</geometry>
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</collision>
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</link>
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<joint name="left_wheel_joint" type="continuous">
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<origin xyz="0 ${wheel_separation/2} 0.0475" rpy="0 0 0" />
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<axis xyz="0 1 0" />
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<parent link="base_link" />
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<child link="left_wheel_link" />
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</joint>
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<!-- Right Wheel -->
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<link name="right_wheel_link">
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<inertial>
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<mass value="0.2" />
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<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0" />
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<geometry>
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<cylinder radius="${wheel_radius}" length="0.03" />
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</geometry>
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<material name="black">
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<color rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0" />
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<geometry>
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<cylinder radius="${wheel_radius}" length="0.03" />
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</geometry>
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</collision>
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</link>
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<joint name="right_wheel_joint" type="continuous">
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<origin xyz="0 ${-wheel_separation/2} 0.0475" rpy="0 0 0" />
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<axis xyz="0 1 0" />
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<parent link="base_link" />
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<child link="right_wheel_link" />
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</joint>
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<!-- IMU Link (ESP32-S3 BALANCE ICM-42688-P, mounted on main board) -->
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<link name="imu_link">
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<inertial>
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<mass value="0.01" />
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<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001" />
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</inertial>
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</link>
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<joint name="imu_joint" type="fixed">
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<origin xyz="0 0 0.05" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="imu_link" />
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</joint>
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<!-- RPLIDAR A1M8 Frame (360° LiDAR, mounted on top of robot) -->
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<link name="laser_frame">
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<inertial>
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<mass value="0.15" />
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<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<cylinder radius="0.035" length="0.02" />
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</geometry>
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<material name="gray">
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<color rgba="0.5 0.5 0.5 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<cylinder radius="0.035" length="0.02" />
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</geometry>
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</collision>
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</link>
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<joint name="laser_joint" type="fixed">
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<!-- RPLIDAR mounted on top, center of robot, ~0.15m above base -->
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<origin xyz="0 0 0.15" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="laser_frame" />
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</joint>
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<!-- RealSense D435i Camera Frame (Mounted forward-facing on pan/tilt) -->
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<link name="camera_link">
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<inertial>
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<mass value="0.1" />
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<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.09 0.025 0.024" />
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</geometry>
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<material name="black">
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<color rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.09 0.025 0.024" />
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</geometry>
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</collision>
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</link>
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<!-- RealSense Optical Frame (Z-forward for optical convention) -->
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<link name="camera_optical_frame" />
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<!-- Pan Servo Frame (Base of pan-tilt mechanism) -->
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<link name="pan_servo">
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<inertial>
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<mass value="0.05" />
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<inertia ixx="0.000005" ixy="0.0" ixz="0.0" iyy="0.000005" iyz="0.0" izz="0.000005" />
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</inertial>
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</link>
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<joint name="pan_servo_joint" type="fixed">
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<!-- Pan servo mounted at front, ~0.12m forward and 0.10m up from base center -->
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<origin xyz="0.12 0 0.10" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="pan_servo" />
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</joint>
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<!-- Tilt Servo Frame (Mounted on pan servo) -->
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<link name="tilt_servo">
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<inertial>
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<mass value="0.05" />
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<inertia ixx="0.000005" ixy="0.0" ixz="0.0" iyy="0.000005" iyz="0.0" izz="0.000005" />
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</inertial>
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</link>
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<joint name="tilt_servo_joint" type="fixed">
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<!-- Tilt servo mounted on pan servo, offset for mechanical linkage -->
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<origin xyz="0 0 0.02" rpy="0 0 0" />
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<parent link="pan_servo" />
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<child link="tilt_servo" />
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</joint>
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<!-- Camera mounted on tilt servo -->
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<joint name="camera_joint" type="fixed">
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<!-- Camera offset from tilt servo (forward and up for good viewing angle) -->
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<origin xyz="0.04 0 0.02" rpy="0 0 0" />
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<parent link="tilt_servo" />
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<child link="camera_link" />
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</joint>
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<!-- Camera optical frame (ROS convention: Z-forward, X-right, Y-down) -->
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<joint name="camera_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="${-PI/2} 0 ${-PI/2}" />
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<parent link="camera_link" />
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<child link="camera_optical_frame" />
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</joint>
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<!-- Materials -->
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<material name="dark_gray">
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<color rgba="0.25 0.25 0.25 1" />
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</material>
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<material name="gray">
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<color rgba="0.5 0.5 0.5 1" />
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</material>
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<material name="black">
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<color rgba="0.1 0.1 0.1 1" />
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</material>
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</robot>
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