add humble-navigation2
This commit is contained in:
X-lanni
@@ -0,0 +1,504 @@
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<?xml version="1.0"?>
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||||
<sdf version="1.6">
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||||
<model name="turtlebot3_waffle">
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||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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||||
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||||
<link name="base_footprint"/>
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||||
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||||
<link name="base_link">
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||||
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||||
<inertial>
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||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
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||||
</inertia>
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||||
<mass>1.0</mass>
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||||
</inertial>
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||||
|
||||
<collision name="base_collision">
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||||
<pose>-0.064 0 0.048 0 0 0</pose>
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||||
<geometry>
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||||
<box>
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||||
<size>0.265 0.265 0.089</size>
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||||
</box>
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||||
</geometry>
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||||
</collision>
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||||
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||||
<visual name="base_visual">
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||||
<pose>-0.064 0 0 0 0 0</pose>
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||||
<geometry>
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||||
<mesh>
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||||
<uri>model://turtlebot3_common/meshes/waffle_base.dae</uri>
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||||
<scale>0.001 0.001 0.001</scale>
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</mesh>
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||||
</geometry>
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||||
</visual>
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||||
</link>
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||||
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||||
<link name="imu_link">
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||||
<sensor name="tb3_imu" type="imu">
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||||
<always_on>true</always_on>
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||||
<update_rate>200</update_rate>
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||||
<imu>
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||||
<angular_velocity>
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||||
<x>
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||||
<noise type="gaussian">
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||||
<mean>0.0</mean>
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||||
<stddev>2e-4</stddev>
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||||
</noise>
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||||
</x>
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||||
<y>
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||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
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||||
<stddev>2e-4</stddev>
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||||
</noise>
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||||
</y>
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||||
<z>
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||||
<noise type="gaussian">
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||||
<mean>0.0</mean>
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||||
<stddev>2e-4</stddev>
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||||
</noise>
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||||
</z>
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||||
</angular_velocity>
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||||
<linear_acceleration>
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||||
<x>
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||||
<noise type="gaussian">
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||||
<mean>0.0</mean>
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||||
<stddev>1.7e-2</stddev>
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</noise>
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||||
</x>
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||||
<y>
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||||
<noise type="gaussian">
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||||
<mean>0.0</mean>
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||||
<stddev>1.7e-2</stddev>
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||||
</noise>
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||||
</y>
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||||
<z>
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||||
<noise type="gaussian">
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||||
<mean>0.0</mean>
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||||
<stddev>1.7e-2</stddev>
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||||
</noise>
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||||
</z>
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||||
</linear_acceleration>
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||||
</imu>
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||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
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||||
<initial_orientation_as_reference>false</initial_orientation_as_reference>
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||||
<ros>
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||||
<!-- <namespace>/tb3</namespace> -->
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<remapping>~/out:=imu</remapping>
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</ros>
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</plugin>
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</sensor>
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</link>
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<link name="base_scan">
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<inertial>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
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||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
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||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
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||||
<iyz>0.000</iyz>
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||||
<izz>0.001</izz>
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||||
</inertia>
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||||
<mass>0.125</mass>
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||||
</inertial>
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||||
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||||
<collision name="lidar_sensor_collision">
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<pose>-0.052 0 0.111 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.0508</radius>
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<length>0.055</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="lidar_sensor_visual">
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<pose>-0.064 0 0.121 0 0 0</pose>
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<geometry>
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||||
<mesh>
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||||
<uri>model://turtlebot3_common/meshes/lds.dae</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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||||
</geometry>
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||||
</visual>
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||||
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||||
<sensor name="hls_lfcd_lds" type="ray">
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||||
<always_on>true</always_on>
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||||
<visualize>true</visualize>
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||||
<pose>-0.064 0 0.15 0 0 0</pose>
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||||
<update_rate>5</update_rate>
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||||
<ray>
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<scan>
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<horizontal>
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<samples>360</samples>
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<resolution>1.000000</resolution>
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<min_angle>0.000000</min_angle>
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<max_angle>6.280000</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.120000</min>
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<max>20.0</max>
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||||
<resolution>0.015000</resolution>
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||||
</range>
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||||
<noise>
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||||
<type>gaussian</type>
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||||
<mean>0.0</mean>
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||||
<stddev>0.01</stddev>
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||||
</noise>
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||||
</ray>
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||||
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
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<ros>
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||||
<!-- <namespace>/tb3</namespace> -->
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<remapping>~/out:=scan</remapping>
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</ros>
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<output_type>sensor_msgs/LaserScan</output_type>
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<frame_name>base_scan</frame_name>
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</plugin>
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</sensor>
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</link>
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<link name="wheel_left_link">
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||||
<inertial>
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||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
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||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
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||||
<izz>0.001</izz>
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||||
</inertia>
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||||
<mass>0.1</mass>
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||||
</inertial>
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||||
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||||
<collision name="wheel_left_collision">
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||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
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||||
<geometry>
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||||
<cylinder>
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||||
<radius>0.033</radius>
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||||
<length>0.018</length>
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||||
</cylinder>
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||||
</geometry>
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||||
<surface>
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||||
<!-- This friction pamareter don't contain reliable data!! -->
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<friction>
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||||
<ode>
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||||
<mu>100000.0</mu>
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||||
<mu2>100000.0</mu2>
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||||
<fdir1>0 0 0</fdir1>
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||||
<slip1>0.0</slip1>
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||||
<slip2>0.0</slip2>
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||||
</ode>
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||||
</friction>
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||||
<contact>
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||||
<ode>
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||||
<soft_cfm>0</soft_cfm>
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||||
<soft_erp>0.2</soft_erp>
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||||
<kp>1e+5</kp>
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||||
<kd>1</kd>
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||||
<max_vel>0.01</max_vel>
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||||
<min_depth>0.001</min_depth>
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||||
</ode>
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||||
</contact>
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||||
</surface>
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||||
</collision>
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||||
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||||
<visual name="wheel_left_visual">
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||||
<pose>0.0 0.144 0.023 0 0 0</pose>
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||||
<geometry>
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||||
<mesh>
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||||
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
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||||
<scale>0.001 0.001 0.001</scale>
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||||
</mesh>
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||||
</geometry>
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||||
</visual>
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||||
</link>
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||||
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||||
<link name="wheel_right_link">
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||||
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||||
<inertial>
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||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
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||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
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||||
</inertia>
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||||
<mass>0.1</mass>
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||||
</inertial>
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||||
|
||||
<collision name="wheel_right_collision">
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||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
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||||
<geometry>
|
||||
<cylinder>
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||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
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||||
<friction>
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||||
<ode>
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||||
<mu>100000.0</mu>
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||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
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||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
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||||
<kp>1e+5</kp>
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||||
<kd>1</kd>
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||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
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||||
</ode>
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||||
</contact>
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||||
</surface>
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||||
</collision>
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||||
|
||||
<visual name="wheel_right_visual">
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||||
<pose>0.0 -0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
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||||
</mesh>
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||||
</geometry>
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||||
</visual>
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||||
</link>
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||||
|
||||
<link name='caster_back_right_link'>
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||||
<pose>-0.177 -0.064 -0.004 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.001</mass>
|
||||
<inertia>
|
||||
<ixx>0.00001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.00001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.00001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
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||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_left_link'>
|
||||
<pose>-0.177 0.064 -0.004 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.001</mass>
|
||||
<inertia>
|
||||
<ixx>0.00001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.00001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.00001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="camera_link">
|
||||
<inertial>
|
||||
<pose>0.069 -0.047 0.107 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.035</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<pose>0 0.047 -0.005 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.008 0.130 0.022</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<pose>0.069 -0.047 0.107 0 0 0</pose>
|
||||
|
||||
<sensor name="intel_realsense_r200_depth" type="depth">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>5</update_rate>
|
||||
<pose>0.064 -0.047 0.107 0 0 0</pose>
|
||||
<camera name="realsense_depth_camera">
|
||||
</camera>
|
||||
<plugin name="intel_realsense_r200_depth_driver" filename="libgazebo_ros_camera.so">
|
||||
<ros>
|
||||
</ros>
|
||||
<camera_name>intel_realsense_r200_depth</camera_name>
|
||||
<frame_name>camera_depth_frame</frame_name>
|
||||
<hack_baseline>0.07</hack_baseline>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_depth>5.0</max_depth>
|
||||
</plugin>
|
||||
</sensor>
|
||||
|
||||
<collision name="collision">
|
||||
<pose>0 0.047 -0.005 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.008 0.130 0.022</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<pose>0.069 -0.047 0.107 0 0 0</pose>
|
||||
</link>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent>base_footprint</parent>
|
||||
<child>base_link</child>
|
||||
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_left_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_left_link</child>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_right_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_right_link</child>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_right_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_right_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_left_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_left_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>camera_link</child>
|
||||
<pose>0.064 -0.065 0.094 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<!--since gazebo_plugins publish tf topic in global namespace /tf only and it
|
||||
cannot be remapped like (namespace/tf) through launch arguments -->
|
||||
<remapping>/tf:=tf</remapping>
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.287</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,54 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.6">
|
||||
<world name="default">
|
||||
|
||||
<include>
|
||||
<uri>model://ground_plane</uri>
|
||||
</include>
|
||||
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
|
||||
<scene>
|
||||
<shadows>false</shadows>
|
||||
</scene>
|
||||
|
||||
<gui fullscreen='0'>
|
||||
<camera name='user_camera'>
|
||||
<pose frame=''>0 0 10 0 1.570796 0</pose>
|
||||
<view_controller>orbit</view_controller>
|
||||
<projection_type>perspective</projection_type>
|
||||
</camera>
|
||||
</gui>
|
||||
|
||||
<physics type="ode">
|
||||
<real_time_update_rate>1000.0</real_time_update_rate>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>150</iters>
|
||||
<precon_iters>0</precon_iters>
|
||||
<sor>1.400000</sor>
|
||||
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
|
||||
</solver>
|
||||
<constraints>
|
||||
<cfm>0.00001</cfm>
|
||||
<erp>0.2</erp>
|
||||
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.01000</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
</physics>
|
||||
|
||||
<model name="turtlebot3_world">
|
||||
<static>1</static>
|
||||
<include>
|
||||
<uri>model://turtlebot3_world</uri>
|
||||
</include>
|
||||
</model>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user