Merge pull request #28 from clearpathrobotics/rkreinin/fenders

Added fenders for J100

clearpath_generator_common/clearpath_generator_common/description/attachments.py

@@ -32,6 +32,7 @@
 
 from clearpath_config.platform.attachments.config import BaseAttachment
 from clearpath_config.platform.types.bumper import Bumper
+from clearpath_config.platform.types.fender import Fender
 from clearpath_config.platform.types.top_plate import TopPlate
 from clearpath_config.platform.types.structure import Structure
 
@@ -70,6 +71,15 @@ def __init__(self, platform: str, attachment: Bumper) -> None:
                 self.EXTENSION: attachment.extension
             })
 
+    class FenderDescription(BaseDescription):
+        MODEL = 'model'
+
+        def __init__(self, platform: str, attachment: Fender) -> None:
+            super().__init__(platform, attachment)
+            self.parameters.update({
+                self.MODEL: attachment.model,
+            })
+
     class TopPlateDescription(BaseDescription):
         MODEL = 'model'
 
@@ -92,6 +102,7 @@ def __init__(self, platform: str, attachment: Structure) -> None:
 
     MODEL = {
         Bumper.ATTACHMENT_MODEL: BumperDescription,
+        Fender.ATTACHMENT_MODEL: FenderDescription,
         TopPlate.ATTACHMENT_MODEL: TopPlateDescription,
         Structure.ATTACHMENT_MODEL: StructureDescription
     }

clearpath_platform_description/urdf/j100/attachments/front_fender.urdf.xacro

@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="front_fender" params="model *origin">
+    <!-- Spawn fender link -->
+    <link name="front_fender_link">
+      <visual>
+        <geometry>
+          <xacro:if value="${model == 'default'}">
+            <mesh filename="package://clearpath_platform_description/meshes/j100/attachments/default_fender.stl" />
+          </xacro:if>
+          <xacro:if value="${model == 'sensor'}">
+            <mesh filename="package://clearpath_platform_description/meshes/j100/attachments/sensor_fender.stl" />
+          </xacro:if>
+        </geometry>
+        <material name="yellow" />
+      </visual>
+    </link>
+
+    <xacro:if value="${model == 'sensor'}">
+      <link name="front_fender_mount"/>
+      <joint name="front_fender_mount_joint" type="fixed">
+        <origin xyz="0.25629 0 0.07455" rpy="${pi} 0 0" />
+        <parent link="front_fender_link" />
+        <child link="front_fender_mount" />
+      </joint>
+    </xacro:if>
+
+    <!-- Attach fender -->
+    <joint name="front_fender_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="base_link" />
+      <child link="front_fender_link" />
+    </joint>
+
+  </xacro:macro>
+</robot>

clearpath_platform_description/urdf/j100/attachments/rear_fender.urdf.xacro

@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="rear_fender" params="model *origin">
+    <!-- Spawn fender link -->
+    <link name="rear_fender_link">
+      <visual>
+        <geometry>
+          <xacro:if value="${model == 'default'}">
+            <mesh filename="package://clearpath_platform_description/meshes/j100/attachments/default_fender.stl" />
+          </xacro:if>
+          <xacro:if value="${model == 'sensor'}">
+            <mesh filename="package://clearpath_platform_description/meshes/j100/attachments/sensor_fender.stl" />
+          </xacro:if>
+        </geometry>
+        <material name="yellow" />
+      </visual>
+    </link>
+
+    <xacro:if value="${model == 'sensor'}">
+      <link name="rear_fender_mount"/>
+      <joint name="rear_fender_mount_joint" type="fixed">
+        <origin xyz="0.25629 0 0.07455" rpy="${pi} 0 0" />
+        <parent link="rear_fender_link" />
+        <child link="rear_fender_mount" />
+      </joint>
+    </xacro:if>
+
+    <!-- Attach fender -->
+    <joint name="rear_fender_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
+      <parent link="base_link" />
+      <child link="rear_fender_link" />
+    </joint>
+
+  </xacro:macro>
+</robot>