add humble-navigation2
This commit is contained in:
X-lanni
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# Dynamic Obstacle
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Dynamic Obstacle. 30x30x30 cm box.
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Updates its velocity direction and amount every 3 seconds. Max velocity is 0.5.
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## How to Configure a Dynamic Obstacle
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dynamic_obstacle/model.sdf
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<plugin name="random" filename="libRandomVelocityPlugin.so">
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-- Name of the link in this model that receives the velocity
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<link>link</link>
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-- Initial velocity that is applied to the link
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<initial_velocity>0 0.05 0</initial_velocity>
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-- Scaling factor that is used to compute a new velocity
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<velocity_factor>0.5</velocity_factor>
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-- Time delay between new velocities
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<update_period>3</update_period>
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-- X velocity treshold values
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<min_x>-0.5</min_x>
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<max_x>0.5</max_x>
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-- Y velocity treshold values
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<min_y>-0.5</min_y>
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<max_y>0.5</max_y>
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-- Z velocity treshold values
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<min_z>-10</min_z>
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<max_z>-5</max_z>
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</plugin>
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<?xml version="1.0"?>
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<model>
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<name>DynamicObstacle</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name>Husnu Melih Erdogan</name>
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<email>h.meliherdogan@gmail.com</email>
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</author>
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<description>
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Randomly moving obstacle.
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</description>
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</model>
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@@ -0,0 +1,71 @@
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="DynamicObstacle">
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<pose>0 0 0.15 0 0 0</pose>
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<link name="link">
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<gravity>1</gravity>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<inertia>
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<ixx>0.17</ixx>
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<ixy>0.00</ixy>
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<ixz>0.00</ixz>
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<iyy>0.17</iyy>
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<iyz>0.00</iyz>
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<izz>0.17</izz>
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</inertia>
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<mass>10</mass>
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</inertial>
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<kinematic>false</kinematic>
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<collision name="collision">
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<max_contacts>10</max_contacts>
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<geometry>
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<box>
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<size>0.3 0.3 0.3</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.0</mu>
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<mu2>0.0</mu2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0.0</restitution_coefficient>
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<threshold>100000</threshold>
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</bounce>
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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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<kd>1</kd>
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<kp>2147483647</kp>
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<max_vel>0.01</max_vel>
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<min_depth>0.0</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="visual">
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<geometry>
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<box>
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<size>0.3 0.3 0.3</size>
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</box>
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</geometry>
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</visual>
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</link>
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<plugin name="random" filename="libRandomVelocityPlugin.so">
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<link>link</link>
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<initial_velocity>0 0.05 0</initial_velocity>
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<velocity_factor>0.5</velocity_factor>
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<update_period>3</update_period>
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<min_x>-0.5</min_x>
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<max_x>0.5</max_x>
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<min_y>-0.5</min_y>
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<max_y>0.5</max_y>
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<min_z>-10</min_z>
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<max_z>-5</max_z>
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</plugin>
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</model>
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</sdf>
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@@ -0,0 +1,16 @@
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# Dynamic World Model
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A world model with a ground plane, 20x20 meter empty room, and 9 dynamic obstacles.
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## How to Add a Dynamic Obstacle
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dynamic_world/world.model
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<model name="DynamicObstacle">
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-- Position of the new obstacle
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<pose>-4 4 0.15 0 0 0</pose>
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<include>
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<uri>model://dynamic_obstacle</uri>
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</include>
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</model>
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@@ -0,0 +1,85 @@
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="default">
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<include>
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<uri>model://sun</uri>
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</include>
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<model name="EmptyRoom">
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<include>
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<uri>model://empty_room</uri>
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</include>
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</model>
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<model name="DynamicObstacle1">
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<pose>-4 4 0.15 0 0 0</pose>
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<include>
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<uri>model://dynamic_obstacle</uri>
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</include>
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</model>
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<model name="DynamicObstacle2">
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<pose>-4 0 0.15 0 0 0</pose>
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<include>
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<uri>model://dynamic_obstacle</uri>
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</include>
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</model>
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<model name="DynamicObstacle3">
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<pose>-4 -4 0.15 0 0 0</pose>
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<include>
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<uri>model://dynamic_obstacle</uri>
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</include>
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</model>
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<model name="DynamicObstacle4">
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<pose>0 4 0.15 0 0 0</pose>
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<include>
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<uri>model://dynamic_obstacle</uri>
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</include>
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</model>
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<model name="DynamicObstacle5">
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<pose>0 0 0.15 0 0 0</pose>
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<include>
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<uri>model://dynamic_obstacle</uri>
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</include>
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</model>
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<model name="DynamicObstacle6">
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<pose>0 -4 0.15 0 0 0</pose>
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<include>
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<uri>model://dynamic_obstacle</uri>
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</include>
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</model>
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<model name="DynamicObstacle7">
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<pose>4 4 0.15 0 0 0</pose>
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<include>
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<uri>model://dynamic_obstacle</uri>
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</include>
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</model>
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<model name="DynamicObstacle8">
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<pose>4 0 0.15 0 0 0</pose>
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<include>
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<uri>model://dynamic_obstacle</uri>
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</include>
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</model>
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<model name="DynamicObstacle9">
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<pose>4 -4 0.15 0 0 0</pose>
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<include>
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<uri>model://dynamic_obstacle</uri>
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</include>
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</model>
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<include>
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<pose>2.0 2.0 0.0 0.0 0.0 0.0</pose>
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<uri>model://turtlebot3_waffle</uri>
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</include>
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</world>
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</sdf>
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@@ -0,0 +1,3 @@
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# Empty Room
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20x20 meter empty room.
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@@ -0,0 +1,11 @@
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<?xml version="1.0" ?>
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<model>
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<name>EmptyRoom</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name></name>
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<email></email>
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</author>
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<description></description>
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</model>
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@@ -0,0 +1,164 @@
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<?xml version='1.0'?>
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<sdf version='1.6'>
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<model name='EmptyRoom'>
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<static>1</static>
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<pose frame=''>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<link name='Wall_1'>
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<collision name='Wall_1_Collision'>
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<geometry>
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<box>
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<size>10 0.15 1</size>
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</box>
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</geometry>
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<max_contacts>1</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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<pose frame=''>0 0 0.5 0 -0 0</pose>
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</collision>
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<visual name='Wall_1_Visual'>
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<pose frame=''>0 0 0.5 0 -0 0</pose>
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<geometry>
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<box>
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<size>10 0.15 1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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<ambient>1 1 1 1</ambient>
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</material>
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<meta>
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<layer>0</layer>
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</meta>
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</visual>
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<pose frame=''>-4.925 0 0 0 -0 -1.5708</pose>
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</link>
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<link name='Wall_2'>
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<collision name='Wall_2_Collision'>
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<geometry>
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<box>
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<size>10 0.15 1</size>
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</box>
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</geometry>
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<max_contacts>1</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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<pose frame=''>0 0 0.5 0 -0 0</pose>
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</collision>
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<visual name='Wall_2_Visual'>
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<pose frame=''>0 0 0.5 0 -0 0</pose>
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<geometry>
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<box>
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<size>10 0.15 1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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<ambient>1 1 1 1</ambient>
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</material>
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<meta>
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<layer>0</layer>
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</meta>
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</visual>
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<pose frame=''>-0 -4.925 0 0 -0 0</pose>
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</link>
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<link name='Wall_3'>
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<collision name='Wall_3_Collision'>
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<geometry>
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<box>
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<size>10 0.15 1</size>
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</box>
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</geometry>
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<max_contacts>1</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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<pose frame=''>0 0 0.5 0 -0 0</pose>
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</collision>
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<visual name='Wall_3_Visual'>
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<pose frame=''>0 0 0.5 0 -0 0</pose>
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<geometry>
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||||
<box>
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||||
<size>10 0.15 1</size>
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</box>
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</geometry>
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||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
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||||
<name>Gazebo/Grey</name>
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||||
</script>
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||||
<ambient>1 1 1 1</ambient>
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||||
</material>
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||||
<meta>
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||||
<layer>0</layer>
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||||
</meta>
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||||
</visual>
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||||
<pose frame=''>4.925 0 0 0 -0 1.5708</pose>
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||||
</link>
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<link name='Wall_4'>
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<collision name='Wall_4_Collision'>
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||||
<geometry>
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||||
<box>
|
||||
<size>10 0.15 1</size>
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||||
</box>
|
||||
</geometry>
|
||||
<max_contacts>1</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
<pose frame=''>0 0 0.5 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='Wall_4_Visual'>
|
||||
<pose frame=''>0 0 0.5 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>10 0.15 1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
<meta>
|
||||
<layer>0</layer>
|
||||
</meta>
|
||||
</visual>
|
||||
<pose frame=''>-0 4.925 0 0 -0 3.14159</pose>
|
||||
</link>
|
||||
<static>1</static>
|
||||
</model>
|
||||
</sdf>
|
||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
@@ -0,0 +1,247 @@
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||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="turtlebot3_burger">
|
||||
|
||||
<link name="base">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.032 0 0.070 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>1.0</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.140 0.140 0.140</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.032 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_burger/meshes/burger_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<collision name="caster_collision">
|
||||
<pose>-0.081 0 -0.004 0 0 0</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="lidar">
|
||||
<inertial>
|
||||
<pose>-0.020 0 0.161 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>0.125</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_burger/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>1</always_on>
|
||||
<visualize>0</visualize>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<update_rate>1800</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="left_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0 0.08 0.023 -1.57 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>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="left_wheel_collision">
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="left_wheel_visual">
|
||||
<pose>0 0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_burger/meshes/left_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="right_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.08 0.023 -1.57 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>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="right_wheel_collision">
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="right_wheel_visual">
|
||||
<pose>0.0 -0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_burger/meshes/right_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>left_wheel</child>
|
||||
<pose>0.0 0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="right_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>right_wheel</child>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base</parent>
|
||||
<child>lidar</child>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>TurtleBot3(Burger)</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Taehun Lim(Darby)</name>
|
||||
<email>thlim@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
TurtleBot3 Burger
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,247 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="turtlebot3_burger">
|
||||
|
||||
<link name="base">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.032 0 0.070 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>1.0</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.140 0.140 0.140</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.032 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_burger/meshes/burger_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<collision name="caster_collision">
|
||||
<pose>-0.081 0 -0.004 0 0 0</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="lidar">
|
||||
<inertial>
|
||||
<pose>-0.020 0 0.161 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>0.125</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_burger/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>1</always_on>
|
||||
<visualize>0</visualize>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<update_rate>1800</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="left_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0 0.08 0.023 -1.57 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>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="left_wheel_collision">
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="left_wheel_visual">
|
||||
<pose>0 0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_burger/meshes/left_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="right_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.08 0.023 -1.57 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>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="right_wheel_collision">
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="right_wheel_visual">
|
||||
<pose>0.0 -0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_burger/meshes/right_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>left_wheel</child>
|
||||
<pose>0.0 0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="right_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>right_wheel</child>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base</parent>
|
||||
<child>lidar</child>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<static>0</static>
|
||||
</model>
|
||||
</sdf>
|
||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
@@ -0,0 +1,521 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="turtlebot3_waffle">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<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>
|
||||
</inertia>
|
||||
<mass>1.0</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.265 0.265 0.089</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.064 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<initial_orientation_as_reference>false</initial_orientation_as_reference>
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.052 0 0.111 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>0.125</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 0.144 0.023 -1.57 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>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<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>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0.0 0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.144 0.023 -1.57 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>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_right_collision">
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<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>
|
||||
|
||||
<visual name="wheel_right_visual">
|
||||
<pose>0.0 -0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_right_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='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"/>
|
||||
|
||||
<link name="camera_rgb_frame">
|
||||
<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 0.047 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="camera" type="camera">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>30</update_rate>
|
||||
<camera name="intel_realsense_r200">
|
||||
<horizontal_fov>1.02974</horizontal_fov>
|
||||
<image>
|
||||
<width>1920</width>
|
||||
<height>1080</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<!-- Noise is sampled independently per pixel on each frame.
|
||||
That pixel's noise value is added to each of its color
|
||||
channels, which at that point lie in the range [0,1]. -->
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<plugin name="camera_driver" filename="libgazebo_ros_camera.so">
|
||||
<ros>
|
||||
<!-- <namespace>test_cam</namespace> -->
|
||||
<!-- <remapping>image_raw:=image_demo</remapping> -->
|
||||
<!-- <remapping>camera_info:=camera_info_demo</remapping> -->
|
||||
</ros>
|
||||
<!-- camera_name>omit so it defaults to sensor name</camera_name-->
|
||||
<!-- frame_name>omit so it defaults to link name</frameName-->
|
||||
<!-- <hack_baseline>0.07</hack_baseline> -->
|
||||
</plugin>
|
||||
</sensor>
|
||||
</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>
|
||||
|
||||
<joint name="camera_rgb_joint" type="fixed">
|
||||
<parent>camera_link</parent>
|
||||
<child>camera_rgb_frame</child>
|
||||
<pose>0.005 0.018 0.013 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> -->
|
||||
<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 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>TurtleBot3(Waffle)</name>
|
||||
<version>2.0</version>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Taehun Lim(Darby)</name>
|
||||
<email>thlim@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
TurtleBot3 Waffle
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,521 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="turtlebot3_waffle">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<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>
|
||||
</inertia>
|
||||
<mass>1.0</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.265 0.265 0.089</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.064 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<initial_orientation_as_reference>false</initial_orientation_as_reference>
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.052 0 0.111 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>0.125</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 0.144 0.023 -1.57 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>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<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>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0.0 0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.144 0.023 -1.57 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>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_right_collision">
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<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>
|
||||
|
||||
<visual name="wheel_right_visual">
|
||||
<pose>0.0 -0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_right_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='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"/>
|
||||
|
||||
<link name="camera_rgb_frame">
|
||||
<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 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="camera" type="camera">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>30</update_rate>
|
||||
<camera name="intel_realsense_r200">
|
||||
<horizontal_fov>1.02974</horizontal_fov>
|
||||
<image>
|
||||
<width>1920</width>
|
||||
<height>1080</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<!-- Noise is sampled independently per pixel on each frame.
|
||||
That pixel's noise value is added to each of its color
|
||||
channels, which at that point lie in the range [0,1]. -->
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<plugin name="camera_driver" filename="libgazebo_ros_camera.so">
|
||||
<ros>
|
||||
<!-- <namespace>test_cam</namespace> -->
|
||||
<!-- <remapping>image_raw:=image_demo</remapping> -->
|
||||
<!-- <remapping>camera_info:=camera_info_demo</remapping> -->
|
||||
</ros>
|
||||
<!-- camera_name>omit so it defaults to sensor name</camera_name-->
|
||||
<!-- frame_name>omit so it defaults to link name</frameName-->
|
||||
<!-- <hack_baseline>0.07</hack_baseline> -->
|
||||
</plugin>
|
||||
</sensor>
|
||||
</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>
|
||||
|
||||
<joint name="camera_rgb_joint" type="fixed">
|
||||
<parent>camera_link</parent>
|
||||
<child>camera_rgb_frame</child>
|
||||
<pose>0.005 0.018 0.013 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> -->
|
||||
<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 +1,19 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>TurtleBot3_Waffle_DepthCamera</name>
|
||||
<version>2.0</version>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Taehun Lim(Darby)</name>
|
||||
<email>thlim@robotis.com</email>
|
||||
|
||||
<name>Melih Erdogan(mlherd)</name>
|
||||
<email>h.meliherdogan@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
TurtleBot3 Waffle with Depth Camera
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,454 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="TurtleBot3_Waffle_DepthCamera">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<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>
|
||||
</inertia>
|
||||
<mass>1.0</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.265 0.265 0.089</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<initial_orientation_as_reference>false</initial_orientation_as_reference>
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.052 0 0.111 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>0.125</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 0.144 0.023 -1.57 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>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<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="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.144 0.023 -1.57 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>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_right_collision">
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<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_right_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='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 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>15</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>
|
||||
<!--
|
||||
<remapping>custom_camera/image_raw:=custom_camera/custom_image</remapping>
|
||||
<remapping>custom_camera/image_depth:=custom_camera/custom_image_depth</remapping>
|
||||
<remapping>custom_camera/camera_info:=custom_camera/custom_info_raw</remapping>
|
||||
<remapping>custom_camera/camera_info_depth:=custom_camera/custom_info_depth</remapping>
|
||||
<remapping>custom_camera/points:=custom_camera/custom_points</remapping>
|
||||
-->
|
||||
</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>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</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>
|
||||
</joint>
|
||||
|
||||
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<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 +1,76 @@
|
||||
<COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
|
||||
<asset>
|
||||
<created>2017-03-30T01:06:40</created>
|
||||
<modified>2017-03-30T01:06:40</modified>
|
||||
<unit name="inch" meter="0.0254"/>
|
||||
<up_axis>Y_UP</up_axis>
|
||||
</asset>
|
||||
<library_visual_scenes>
|
||||
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</material>
|
||||
</visual>
|
||||
|
||||
<collision name='three_two'>
|
||||
<pose>1.1 0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='three_two'>
|
||||
<pose>1.1 0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='three_three'>
|
||||
<pose>1.1 1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='three_three'>
|
||||
<pose>1.1 1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- Draw Hexagon -->
|
||||
<collision name='head'>
|
||||
<pose>3.5 0 -0.5 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.8 0.8 0.8</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='head'>
|
||||
<pose>3.5 0 -0.5 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.8 0.8 0.8</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='left_hand'>
|
||||
<pose>1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='left_hand'>
|
||||
<pose>1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='right_hand'>
|
||||
<pose>1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='right_hand'>
|
||||
<pose>1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='left_foot'>
|
||||
<pose>-1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='left_foot'>
|
||||
<pose>-1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='right_foot'>
|
||||
<pose>-1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='right_foot'>
|
||||
<pose>-1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- Draw Wall -->
|
||||
<collision name='body'>
|
||||
<pose>0 0 -0.3 0 0 -1.5708</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/wall.dae</uri>
|
||||
<scale>0.25 0.25 0.25</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='body'>
|
||||
<pose>0 0 -0.3 0 0 -1.5708</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/wall.dae</uri>
|
||||
<scale>0.25 0.25 0.25</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>TurtleBot3 World</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Taehun Lim(Darby)</name>
|
||||
<email>thlim@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
World of TurtleBot3 with ROS symbol
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,549 @@
|
||||
<sdf version='1.5'>
|
||||
<!-- Draw Circle -->
|
||||
<model name='ros_symbol'>
|
||||
<static>1</static>
|
||||
<link name='symbol'>
|
||||
<collision name='one_one'>
|
||||
<pose>-1.1 -1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='one_one'>
|
||||
<pose>-1.1 -1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='one_two'>
|
||||
<pose>-1.1 0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='one_two'>
|
||||
<pose>-1.1 0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='one_three'>
|
||||
<pose>-1.1 1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='one_three'>
|
||||
<pose>-1.1 1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='two_one'>
|
||||
<pose>0 -1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='two_one'>
|
||||
<pose>0 -1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='two_two'>
|
||||
<pose>0 0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='two_two'>
|
||||
<pose>0 0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='two_three'>
|
||||
<pose>0 1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='two_three'>
|
||||
<pose>0 1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='three_one'>
|
||||
<pose>1.1 -1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='three_one'>
|
||||
<pose>1.1 -1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='three_two'>
|
||||
<pose>1.1 0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='three_two'>
|
||||
<pose>1.1 0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='three_three'>
|
||||
<pose>1.1 1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='three_three'>
|
||||
<pose>1.1 1.1 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- Draw Hexagon -->
|
||||
<collision name='head'>
|
||||
<pose>3.5 0 -0.5 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.8 0.8 0.8</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='head'>
|
||||
<pose>3.5 0 -0.5 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.8 0.8 0.8</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='left_hand'>
|
||||
<pose>1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='left_hand'>
|
||||
<pose>1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='right_hand'>
|
||||
<pose>1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='right_hand'>
|
||||
<pose>1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='left_foot'>
|
||||
<pose>-1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='left_foot'>
|
||||
<pose>-1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='right_foot'>
|
||||
<pose>-1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='right_foot'>
|
||||
<pose>-1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- Draw Wall -->
|
||||
<collision name='body'>
|
||||
<pose>0 0 -0.3 0 0 -1.5708</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/wall.dae</uri>
|
||||
<scale>0.25 0.25 0.25</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='body'>
|
||||
<pose>0 0 -0.3 0 0 -1.5708</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/wall.dae</uri>
|
||||
<scale>0.25 0.25 0.25</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user