<commit_before><?xml version="1.0"?>
<robot name="wheel" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:property name="M_PI" value="3.1415926535897931" />
  <!-- Wheels -->
  <xacro:property name="wheel_radius" value="0.125" /> 
  <xacro:property name="wheel_height" value="0.14" /> <!-- really is the wheel width -->
  <xacro:property name="wheel_mass" value="6.5" /> <!-- in kg-->
 
 
  <xacro:macro name="cylinder_inertia" params="m r h">
    <inertia  ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
              iyy="${m*r*r/2}" iyz = "0"
              izz="${m*(3*r*r+h*h)/12}" /> 
  </xacro:macro>
 
  <xacro:macro name="rubber_wheel" params="name parent *origin reflect hq">
  
<!--WHEEL TIRE -->
    <joint name="joint_${name}_wheel" type="continuous">
      <parent link="${parent}"/>
      <child link="${name}_wheel"/>
      <xacro:insert_block name="origin" />
      <axis xyz="0 1 0" rpy="0 0 0" />
      <limit effort="100" velocity="100"/>
      <joint_properties damping="0.0" friction="0.0"/>
    </joint>
  
    <link name="${name}_wheel">
      <visual>
        <!-- HIGH RESOLUTION WHEELS -->
        <xacro:if value="${hq}">
          <origin xyz="0 0 0" rpy="0 0 0" />
          <geometry>     
						<xacro:if value="${reflect}">
							<mesh filename="package://summit_xl_description/meshes/wheels/rubber_wheel_left.dae" />
						</xacro:if>
						<xacro:unless value="${reflect}">
							<mesh filename="package://summit_xl_description/meshes/wheels/rubber_wheel_right.dae" />
						</xacro:unless>
          </geometry>         
        </xacro:if>
       <!-- LOW RESOLUTION WHEELS -->
        <xacro:unless value="${hq}">
          <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
          <geometry>           
            <cylinder length="${wheel_height}" radius="${wheel_radius}" />
          </geometry>      
        </xacro:unless>
      </visual>
      
      <collision>
				<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
        <geometry>
          <cylinder length="${wheel_height}" radius="${wheel_radius}" />
        </geometry>
      </collision>    
      <inertial>
        <mass value="${wheel_mass}" />
        <origin xyz="0 0 0" />
        <cylinder_inertia  m="${wheel_mass}" r="${wheel_radius}" h="${wheel_height}" />
      </inertial>
    </link>

    
    <!-- Transmission is important to link the joints and the controller (see summit_xl_control/config/summit_xl_control.yaml)-->
    <transmission name="${name}_wheel_joint_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="joint_${name}_wheel">
        <hardwareInterface>VelocityJointInterface</hardwareInterface>
      </joint>
      <actuator name="${name}_wheel_joint_motor">
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
     </transmission>


    <gazebo reference="${name}_wheel">
			<mu1 value="1.0"/>
			<mu2 value="1.0"/>
			<kp value="10000000.0" />
			<kd value="1.0" />
			<fdir1 value="1 0 0"/>
      <turnGravityOff>false</turnGravityOff>
    </gazebo>
    
   
  </xacro:macro>

</robot><commit_msg>added torque constant, probably not in use<commit_after><?xml version="1.0"?>
<robot name="wheel" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:property name="M_PI" value="3.1415926535897931" />
  <!-- Wheels -->
  <xacro:property name="wheel_radius" value="0.125" /> 
  <xacro:property name="wheel_height" value="0.14" /> <!-- really is the wheel width -->
  <xacro:property name="wheel_mass" value="6.5" /> <!-- in kg-->
 
 
  <xacro:macro name="cylinder_inertia" params="m r h">
    <inertia  ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
              iyy="${m*r*r/2}" iyz = "0"
              izz="${m*(3*r*r+h*h)/12}" /> 
  </xacro:macro>
 
  <xacro:macro name="rubber_wheel" params="name parent *origin reflect hq">
  
<!--WHEEL TIRE -->
    <joint name="joint_${name}_wheel" type="continuous">
      <parent link="${parent}"/>
      <child link="${name}_wheel"/>
      <xacro:insert_block name="origin" />
      <axis xyz="0 1 0" rpy="0 0 0" />
      <limit effort="100" velocity="100"/>
      <joint_properties damping="0.0" friction="0.0"/>
    </joint>
  
    <link name="${name}_wheel">
      <visual>
        <!-- HIGH RESOLUTION WHEELS -->
        <xacro:if value="${hq}">
          <origin xyz="0 0 0" rpy="0 0 0" />
          <geometry>     
						<xacro:if value="${reflect}">
							<mesh filename="package://summit_xl_description/meshes/wheels/rubber_wheel_left.dae" />
						</xacro:if>
						<xacro:unless value="${reflect}">
							<mesh filename="package://summit_xl_description/meshes/wheels/rubber_wheel_right.dae" />
						</xacro:unless>
          </geometry>         
        </xacro:if>
       <!-- LOW RESOLUTION WHEELS -->
        <xacro:unless value="${hq}">
          <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
          <geometry>           
            <cylinder length="${wheel_height}" radius="${wheel_radius}" />
          </geometry>      
        </xacro:unless>
      </visual>
      
      <collision>
				<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
        <geometry>
          <cylinder length="${wheel_height}" radius="${wheel_radius}" />
        </geometry>
      </collision>    
      <inertial>
        <mass value="${wheel_mass}" />
        <origin xyz="0 0 0" />
        <cylinder_inertia  m="${wheel_mass}" r="${wheel_radius}" h="${wheel_height}" />
      </inertial>
    </link>

    
    <!-- Transmission is important to link the joints and the controller (see summit_xl_control/config/summit_xl_control.yaml)-->
    <transmission name="${name}_wheel_joint_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="joint_${name}_wheel">
        <hardwareInterface>VelocityJointInterface</hardwareInterface>
      </joint>
      <actuator name="${name}_wheel_joint_motor">
        <mechanicalReduction>1</mechanicalReduction>
        <motorTorqueConstant>20</motorTorqueConstant>
      </actuator>
     </transmission>

    <gazebo reference="${name}_wheel">
			<mu1 value="1.0"/>
			<mu2 value="1.0"/>
			<kp value="10000000.0" />
			<kd value="1.0" />
			<fdir1 value="1 0 0"/>
      <turnGravityOff>false</turnGravityOff>
    </gazebo>
    
   
  </xacro:macro>

</robot>
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