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Feature/179 diff drive robot model #180

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Merged
pockerman merged 2 commits into from
Apr 26, 2026
Merged

Feature/179 diff drive robot model #180

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85d03b9
Refactor turtle_bot (#179)
pockerman Mar 29, 2026
11844c2
Add diff drive robot class (#179)
pockerman Mar 29, 2026
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381 changes: 64 additions & 317 deletions examples/example_14/example_14.cpp
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107 changes: 73 additions & 34 deletions robots/bitrl_diff_drive_robot.json
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Original file line number Diff line number Diff line change
@@ -1,45 +1,84 @@
{
"name": "Odysseus",
"mass": 1.0,
"mass_units": "kg",
"robot-data": {
"max_speed": 5.0,
"wheel_radius": 0.1,
"wheel_width": 0.05,
"axle_length": 1.0,
"density": 1000.0,
"caster_wheel_radius": 0.05
},
"material": {
"friction": 0.8,
"restitution": 0.1
},
"chassis": {
"mass": 1.0,
"mass_units": "kg",
"position": [ 0.0, 0.0, 0.0],
"fixed": false,
"visual_shape": "shape-box",
"visual_position": [0.4, 0.3, 0.05]
"description": "chassis_i describes the length of the chassis in the x, y, z axis, pos_i the center of mass of the chassis",
"chassis_x": 0.5,
"chassis_y": 0.3,
"chassis_z": 0.1,
"pos_x": 0.0,
"pos_y": 0.0,
"pos_z": 0.0
},
"left-wheel": {
"mass": 1.0,
"mass_units": "kg",
"position": [ 0.0, 0.175, -0.02],
"radius": 0.06,
"width": 0.05,
"radius_units": "cm",
"visual_shape": "cylinder",
"rotation_axis": [1, 0, 0],
"rotation_angle_deg": 90
"pos_x": 0.0,
"pos_y": 0.2,
"pos_z": 0.1
},
"right-wheel": {
"mass": 1.0,
"mass_units": "kg",
"position": [ 0.0, -0.175, -0.02],
"radius": 0.06,
"width": 0.05,
"radius_units": "cm",
"visual_shape": "cylinder",
"rotation_axis": [1, 0, 0],
"rotation_angle_deg": 90
"pos_x": 0.0,
"pos_y": -0.2,
"pos_z": 0.1
},
"caster-wheel": {
"mass": 0.5,
"mass_units": "kg",
"position": [ -0.2, 0.0, -0.02],
"radius": 0.06,
"width": 0.05,
"visual_shape": "cylinder",
"rotation_axis": [1, 0, 0],
"rotation_angle_deg": 90
"pos_x": 0.2,
"pos_y": 0.0,
"pos_z": 0.05
},
"sensors": {
"description": "The sensors of the robot. Leave the sensors attribute empty if no sensors. Or set all flags enble to false",
"sensors": {
"front-sonar": {
"idx": 0,
"enable": true,
"dimensions": [0.04, 0.04, 0.04],
"update_rate": 50.0,
"max_distance": 5.0,
"min_distance": 0.5,
"backend": "CHRONO",
"type": "ultrasonic-range",
"name": "Ultrasonic",
"color": [1.0, 0.0, 0.0],
"frame_pos": [0.27, 0.0, 0.05]

},
"rear-sonar": {
"idx": 1,
"enable": true,
"pos_x": 0.0,
"pos_y": 0.0,
"pos_z": 0.0,
"update_rate": 50.0,
"max_distance": 5.0,
"min_distance": 0.5,
"backend": "CHRONO",
"type": "ultrasonic-range",
"name": "Ultrasonic"
},
"front-camera": {
"idx": 2,
"enable": true,
"pos_x": 0.0,
"pos_y": 0.0,
"pos_z": 0.0,
"update_rate": 50.0,
"max_distance": 5.0,
"min_distance": 0.5,
"backend": "CHRONO",
"type": "camera",
"name": "Ultrasonic"
}
}
}
}
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