add humble-navigation2
This commit is contained in:
X-lanni
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
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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>
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||||
</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>
|
||||
Reference in New Issue
Block a user