Blueprint

This document contains explanations and motivations for the measurements as well as names for variables that should be used when designing the objects. The categories are mostly self-explanatory; the one that might need more of an explanation is the color red. This refers to loose objects such as pallets, barrels, boxes, and things that will be placed directly on the ground.

Measurements:

Category Part / Object Variable Name Value [unit]
Shelf Load Beam beam_length 2.7 [m]
Shelf Load Beam beam_depth 0.05 [m]
Shelf Load Beam beam_height 0.14 [m]
Shelf Load Beam beam_weight 15.2 [kg]
Shelf Footplate footplate_length 0.111 [m]
Shelf Footplate footplate_width 0.1 [m]
Shelf Footplate footplate_height 0.004 [m]
Shelf Stand / Pole stand_length 0.07 [m]
Shelf Stand / Pole stand_width 0.08 [m]
Shelf Stand / Pole stand_height 3 [m]
Shelf Stand / Pole stand_weight 8.5 [kg]
Shelf Cross Brace brace_length 0.96 [m]
Shelf Cross Brace brace_width 0.01 [m]
Shelf Cross Brace brace_height 0.02 [m]
Shelf Cross Brace brace_weight 1 [kg]
Loose Object EUR-Pallet EUR_pallet_length 1.2 [m]
Loose Object EUR-Pallet EUR_pallet_width 0.8 [m]
Loose Object EUR-Pallet EUR_pallet_height 0.144 [m]
Loose Object EUR-Pallet EUR_pallet_weight 25 [kg]
Loose Object Steel Drum steel_drum_radius 0.3 [m]
Loose Object Steel Drum steel_drum_height 0.9 [m]
Loose Object Steel Drum full_steel_drum_weight 188 [kg]
Loose Object Steel Drum empty_steel_drum_weight 15 [kg]
Loose Object Traffic Cone traffic_cone_radius 0.22 [m]
Loose Object Traffic Cone traffic_cone_angle -10 [degrees]
Loose Object Traffic Cone traffic_cone_total_height 1 [m]
Loose Object Traffic Cone traffic_cone_base_length 0.52 [m]
Loose Object Traffic Cone traffic_cone_base_width 0.52 [m]
Loose Object Traffic Cone traffic_cone_base_height 0.03 [m]
Loose Object Traffic Cone traffic_cone_base_angle -20 [degrees]
Loose Object Traffic Cone traffic_cone_weight 6.5 [kg]
Loose Object Box box_length Varies [m]
Loose Object Box box_width Varies [m]
Loose Object Box box_height Varies [m]
Loose Object Box box_weight Varies [m]
Warehouse Support Pole pole_length 0.3 [m]
Warehouse Support Pole pole_width 0.3 [m]
Warehouse Support Pole pole_hole_side_length 0.27 [m]
Warehouse Support Pole pole_hole_side_width 0.13 [m]
Warehouse Support Pole pole_height 6 [m]
Warehouse Support Pole pole_weight Undefined [kg]
EUR-pallet
EUR-pallet Measurements

AMR

AMR

It is defined in the XY plane, and the center of the AMR is on x,y=0,0, and the bottom of the robot is on z=0.

Define scale, pos, and collision in these files:

We write our AMR description in simlan_gazebo_environment/urdf and use xacro to create a urdf file with gazebo tags (so not a pure urdf file) that can be used both by state_publisher and gazebo (unlike 2 separate files: model.sdf that is used for Gazebo and turtlebot.urf that is used for state_publisher in the original Turtlebot_simulation git project).

There are two actual diffdrive wheels that are named left and right and four supporting wheels to balance the robot that are named front_left, front_right, back_left, and back_right (they have no friction and can be moved to different positions) with the radius of 0.98 of the main wheels.

Note: The reason for the shake is the difference between the radius of the real wheels and caster wheels.

Orientation:

  • x: forward
  • y: left
  • z: up

Objects Modeled in FreeCAD

All the objects are located in objects. Below follows a list of the objects currently available, models created in FreeCAD.

  • EUR-pallet
  • Shelf
  • Modular Shelf - a stackable shelf part that can create shelves of varying sizes
  • Steel Drum
  • Traffic Cone
  • Support Pole
  • Boxes with measurements in mm [Box-Length x Width x Height]
  • Box-160x130x70
  • Box-185x185x75
  • Box-185x185x185
  • Box-210x180x130
  • Box-230x160x85
  • Box-250x195x160
  • Box-430x250x260
  • Box-440x320x175
  • Box-570x380x380
  • Box-1185x785x1010
  • Box-600x800x400 (2 per level on EUR-Pallet)
  • Box-600x400x400 (4 per level on EUR-Pallet)
  • Box-300x400x400 (8 per level on EUR-pallet)

AMR camera

Camera

Inspired by CCTV Camera 3G-SDI

In the model: camera base height (70mm) + camera lens height (50mm) = 120mm

Resources