Pioneer P3AT - Characteristics
Omer Kaya
Length : 508 mm
Width : 497 mm
Height : 277 mm
Weight : 12 kg
My source is this : https://www.generationrobots.com/media/Pioneer3AT-P3AT-RevA-datasheet.pdf
I downloaded the simulation files from here : https://github.com/MobileRobots/amr-ros-config
But, I am not sure whether the characteristics of the downloaded robot simulation file has the same values that I mentioned above. I checked the .urdf file. But, the components of the robot are .stl files. So, I couldn't find the geometrical characteristics of the robot. I tried to measure those .stl files in Autodesk Fusion 360, but the measurements were not meaningful values.
It would be great to have any support about finding those characteristics of downloaded robot's simulation file.
Saygılarımla / Best Regards
Ömer Mutlu Türk KAYA
Araştırma Görevlisi / Research Assistant
İstanbul Sabahattin Zaim Üniversitesi
Hangar, Halkalı, Küçükçekmece, İstanbul
www.izu.edu.tr
Reed Hedges
When I made that URDF I weighed a P3AT on a postal shipping scale (I don't remember if it had a computer or any other internal optional component, and don't know the scale's accuracy) and came up with 18.6 kg including wheels, tires, and top plate, but not including batteries. Each battery would add 2.4 kg. To subtract wheels and top plate, each wheel with tire was 1.4kg and the top plate was about 0.1 kg, therefore just the red chasis (and internal components) should weigh about 12.3kg without batteries or 19.5kg with three batteries, and each wheel with tire is 1.4kg. Does this seem correct?
If you find some values that seem accurate and want to add primitive geometry (i.e. bounding boxes or polygon for body and wheels) directly into the URDF (in addition to or as a fallback for the STL) we can incorporate that into the URDF in amr-robot-config. Send a pull request or report here what it should be.
There were a few published reports that others have made doing dynamic or other modelling of the p3at you may be able to find. I don't think I saved any copies of those for myself unfortunately especially if I only had paper printouts.
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http://www.ros.org/wiki/sig/robots/Pioneer
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