Add A21 ultrasonic sensor

Author: afont3

meshes/a21_ultrasonic_sensor.stl

@@ -0,0 +1,94 @@
+<?xml version="1.0"?>
+<robot name="sensor_ultrasonic_a21" xmlns:xacro="http://wiki.ros.org/xacro">
+
+
+  <xacro:macro name="sensor_ultrasonic_a21" params="prefix parent prefix_topic:='front_ultrasonic' *origin gpu:=^|true">
+
+    <joint name="${prefix}_base_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="${prefix}_base_link"/>
+    </joint>
+
+
+    <link name="${prefix}_base_link">
+      <collision>
+        <origin xyz="0 0 0.0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.010 0.010 0.010"/>
+        </geometry>
+      </collision>
+
+      <visual>
+        <origin xyz="0 0 0.0" rpy="0 0 0"/>
+        <geometry>
+            <mesh filename="package://robotnik_sensors/meshes/a21_ultrasonic_sensor.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+
+      <inertial>
+        <origin xyz="0.0 0 0.035" rpy="0 0 0" />
+        <mass value="0.130" />
+        <xacro:solid_cuboid_inertia m="0.130" w="0.05" h="0.05" d="0.07" />
+      </inertial>
+    </link>
+
+    <link name="${prefix}_link">
+	</link>
+    <joint name="${prefix}_joint" type="fixed">
+      <parent link="${prefix}_base_link"/>
+      <child link="${prefix}_link"/>
+      <origin xyz="0.00 0.0 0.0" rpy="0 0 ${PI/2}"/>
+	</joint>
+
+    <!-- Hokuyo sensor for simulation -->
+    <!--xacro:ssensor_ultrasonic_a21_gazebo/-->
+
+  </xacro:macro>
+
+
+  <!-- <xacro:macro name="sensor_ultrasonic_a21_gazebo">
+    <gazebo reference="${prefix}_link">
+			<xacro:if value="${gpu}">
+        <xacro:property name="ray_type" value="gpu_ray" />
+        <xacro:property name="plugin_lib" value="libgazebo_ros_gpu_laser.so" />
+      </xacro:if>
+      <xacro:unless value="${gpu}">
+        <xacro:property name="ray_type" value="ray" />
+        <xacro:property name="plugin_lib" value="libgazebo_ros_laser.so" />
+      </xacro:unless>
+			<sensor type="${ray_type}" name="${prefix}_sensor">
+				<pose>0 0 0 0 0 0</pose>
+				<visualize>false</visualize>
+				<update_rate>40</update_rate>
+				<ray>
+					<scan>
+						<horizontal>
+							<samples>1081</samples>
+							<resolution>1</resolution>
+							<min_angle>${min_angle}</min_angle>
+							<max_angle>${max_angle}</max_angle>
+						</horizontal>
+					</scan>
+					<range>
+						<min>0.06</min>
+						<max>20.0</max>
+						<! resolution>0.004363323</resolution >
+						<resolution>0.004359297</resolution>
+						<! resolution>0.001</resolution >
+					</range>
+					<noise>
+						<type>gaussian</type>
+						<mean>0.0</mean>
+						<stddev>0.01</stddev>
+					</noise>
+				</ray>
+				<plugin name="${prefix}_controller" filename="${plugin_lib}">
+					<topicName>${prefix_topic}/scan</topicName>
+					<frameName>/${prefix}_link</frameName>
+				</plugin>
+			</sensor>
+	</gazebo>
+  </xacro:macro>
+  -->
+</robot> 

urdf/a21_ultrasonic_sensor.urdf.xacro

@@ -53,6 +53,9 @@
   <!-- Hokuyo ust30lx -->
   <xacro:include filename="$(find robotnik_sensors)/urdf/hokuyo_ust30lx.urdf.xacro" />
 
+  <!-- Ultrasonic sensor A21 -->
+  <xacro:include filename="$(find robotnik_sensors)/urdf/a21_ultrasonic_sensor.urdf.xacro" />
+
   <!-- Imu -->
   <xacro:include filename="$(find robotnik_sensors)/urdf/imu.urdf.xacro" />
 
@@ -98,7 +101,7 @@
   <!-- Orbbec Astra -->
   <xacro:include filename="$(find robotnik_sensors)/urdf/orbbec_astra.urdf.xacro" />
 
-   <!-- Orbbec Astra Pro-->
+ <!-- Orbbec Astra Pro-->
   <xacro:include filename="$(find robotnik_sensors)/urdf/orbbec_astra_pro.urdf.xacro" />
 
   <!-- Zed -->