add humble-navigation2
This commit is contained in:
X-lanni
@@ -0,0 +1,497 @@
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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://ground_plane</uri>
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</include>
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<include>
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<uri>model://sun</uri>
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</include>
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<scene>
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<shadows>false</shadows>
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</scene>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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<physics type="ode">
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<real_time_update_rate>1000.0</real_time_update_rate>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<ode>
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<solver>
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<type>quick</type>
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<iters>150</iters>
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<precon_iters>0</precon_iters>
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<sor>1.400000</sor>
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<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
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</solver>
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<constraints>
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<cfm>0.00001</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
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<contact_surface_layer>0.01000</contact_surface_layer>
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</constraints>
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</ode>
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</physics>
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<model name="turtlebot3_world">
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<static>1</static>
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<include>
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<uri>model://turtlebot3_world</uri>
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</include>
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</model>
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<model name="turtlebot3">
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<pose>-2.0 -0.5 0.01 0.0 0.0 0.0</pose>
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<link name="base_footprint"/>
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<link name="base_link">
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<inertial>
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<pose>-0.064 0 0.048 0 0 0</pose>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.001</iyy>
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<iyz>0.000</iyz>
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<izz>0.001</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<collision name="base_collision">
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<pose>-0.064 0 0.048 0 0 0</pose>
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<geometry>
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<box>
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<size>0.265 0.265 0.089</size>
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</box>
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</geometry>
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</collision>
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<visual name="base_visual">
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<pose>-0.064 0 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="imu_link">
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<sensor name="tb3_imu" type="imu">
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<always_on>true</always_on>
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<update_rate>200</update_rate>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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<plugin name="my_imu_plugin" filename="libgazebo_ros_imu_sensor.so">
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<initial_orientation_as_reference>false</initial_orientation_as_reference>
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<ros>
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<!-- <namespace>/tb3</namespace> -->
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<remapping>~/out:=imu</remapping>
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</ros>
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</plugin>
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</sensor>
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</link>
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<link name="base_scan">
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<inertial>
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<pose>-0.052 0 0.111 0 0 0</pose>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.001</iyy>
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<iyz>0.000</iyz>
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<izz>0.001</izz>
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</inertia>
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<mass>0.125</mass>
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</inertial>
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<collision name="lidar_sensor_collision">
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<pose>-0.064 0 0.121 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.0508</radius>
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<length>0.055</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="lidar_sensor_visual">
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<pose>-0.032 0 0.171 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_waffle/meshes/lds.dae</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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</visual>
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<sensor name="hls_lfcd_lds" type="ray">
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<always_on>true</always_on>
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<visualize>false</visualize>
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<pose>-0.064 0 0.121 0 0 0</pose>
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<update_rate>5</update_rate>
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<ray>
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<scan>
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<horizontal>
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<samples>360</samples>
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<resolution>1.000000</resolution>
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<min_angle>0.000000</min_angle>
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<max_angle>6.280000</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.120000</min>
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<max>3.5</max>
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<resolution>0.015000</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.01</stddev>
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</noise>
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</ray>
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<plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
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<ros>
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<!-- <namespace>/tb3</namespace> -->
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<remapping>~/out:=scan</remapping>
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</ros>
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<output_type>sensor_msgs/LaserScan</output_type>
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</plugin>
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</sensor>
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</link>
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<link name="wheel_left_link">
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<inertial>
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<pose>0.0 0.144 0.023 -1.57 0 0</pose>
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<inertia>
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<ixx>0.001</ixx>
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||||
<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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||||
<iyy>0.001</iyy>
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<iyz>0.000</iyz>
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||||
<izz>0.001</izz>
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</inertia>
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<mass>0.1</mass>
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</inertial>
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<collision name="wheel_left_collision">
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<pose>0.0 0.144 0.023 -1.57 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.033</radius>
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<length>0.018</length>
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</cylinder>
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</geometry>
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<surface>
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<!-- This friction pamareter don't contain reliable data!! -->
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+5</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="wheel_left_visual">
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<pose>0.0 0.144 0.023 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="wheel_right_link">
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<inertial>
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<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
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||||
<inertia>
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||||
<ixx>0.001</ixx>
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||||
<ixy>0.000</ixy>
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||||
<ixz>0.000</ixz>
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||||
<iyy>0.001</iyy>
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||||
<iyz>0.000</iyz>
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||||
<izz>0.001</izz>
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||||
</inertia>
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<mass>0.1</mass>
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||||
</inertial>
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||||
<collision name="wheel_right_collision">
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||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
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||||
<geometry>
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||||
<cylinder>
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||||
<radius>0.033</radius>
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||||
<length>0.018</length>
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</cylinder>
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||||
</geometry>
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<surface>
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<!-- This friction pamareter don't contain reliable data!! -->
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<fdir1>0 0 0</fdir1>
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||||
<slip1>0.0</slip1>
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||||
<slip2>0.0</slip2>
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||||
</ode>
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||||
</friction>
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||||
<contact>
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||||
<ode>
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||||
<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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||||
<kp>1e+5</kp>
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||||
<kd>1</kd>
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||||
<max_vel>0.01</max_vel>
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||||
<min_depth>0.001</min_depth>
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||||
</ode>
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||||
</contact>
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||||
</surface>
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||||
</collision>
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||||
|
||||
<visual name="wheel_right_visual">
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||||
<pose>0.0 -0.144 0.023 0 0 0</pose>
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||||
<geometry>
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||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
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||||
</mesh>
|
||||
</geometry>
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||||
</visual>
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||||
</link>
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||||
|
||||
<link name='caster_back_right_link'>
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||||
<pose>-0.177 -0.064 -0.004 0 0 0</pose>
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||||
<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'>
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||||
<geometry>
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||||
<sphere>
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||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_left_link'>
|
||||
<pose>-0.177 0.064 -0.004 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.001</mass>
|
||||
<inertia>
|
||||
<ixx>0.00001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.00001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.00001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<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="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</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>
|
||||
|
||||
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>/tf:=tf</remapping>
|
||||
</ros>
|
||||
|
||||
<!-- 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>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<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>250</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
|
||||
</model>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
|
||||
@@ -0,0 +1,558 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.6">
|
||||
<world name="default">
|
||||
|
||||
<include>
|
||||
<uri>model://ground_plane</uri>
|
||||
</include>
|
||||
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
|
||||
<scene>
|
||||
<shadows>false</shadows>
|
||||
</scene>
|
||||
|
||||
<gui fullscreen='0'>
|
||||
<camera name='user_camera'>
|
||||
<pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
|
||||
<view_controller>orbit</view_controller>
|
||||
<projection_type>perspective</projection_type>
|
||||
</camera>
|
||||
</gui>
|
||||
|
||||
<physics type="ode">
|
||||
<real_time_update_rate>1000.0</real_time_update_rate>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>150</iters>
|
||||
<precon_iters>0</precon_iters>
|
||||
<sor>1.400000</sor>
|
||||
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
|
||||
</solver>
|
||||
<constraints>
|
||||
<cfm>0.00001</cfm>
|
||||
<erp>0.2</erp>
|
||||
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.01000</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
</physics>
|
||||
|
||||
<model name="turtlebot3_world">
|
||||
<static>1</static>
|
||||
<include>
|
||||
<uri>model://turtlebot3_world</uri>
|
||||
</include>
|
||||
</model>
|
||||
|
||||
<model name="turtlebot3">
|
||||
<pose>-2.0 -0.5 0.01 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="my_imu_plugin" 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>-0.020 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>-0.064 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>false</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="laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
</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>
|
||||
|
||||
<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="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</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>
|
||||
|
||||
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>/tf:=tf</remapping>
|
||||
</ros>
|
||||
|
||||
<!-- 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>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<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>250</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
|
||||
</model>
|
||||
|
||||
<model name='cardboard_box'>
|
||||
<pose frame=''>-1.0 0.6 0.15 0 -0 0</pose>
|
||||
|
||||
<link name='link'>
|
||||
<inertial>
|
||||
<mass>20</mass>
|
||||
<inertia>
|
||||
<ixx>0.0416667</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0566667</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0683333</izz>
|
||||
</inertia>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
</inertial>
|
||||
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.5 0.4 0.3</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
</ode>
|
||||
<torsional>
|
||||
<ode/>
|
||||
</torsional>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp>1e+07</kp>
|
||||
<kd>1</kd>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0.1</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<bounce/>
|
||||
</surface>
|
||||
<max_contacts>10</max_contacts>
|
||||
</collision>
|
||||
|
||||
<visual name='visual'>
|
||||
<pose frame=''>0 0 -0.15 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://cardboard_box/meshes/cardboard_box.dae</uri>
|
||||
<scale>1.25932 1.00745 0.755591</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<self_collide>0</self_collide>
|
||||
<enable_wind>0</enable_wind>
|
||||
<kinematic>0</kinematic>
|
||||
</link>
|
||||
</model>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -0,0 +1,54 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.6">
|
||||
<world name="default">
|
||||
|
||||
<include>
|
||||
<uri>model://ground_plane</uri>
|
||||
</include>
|
||||
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
|
||||
<scene>
|
||||
<shadows>false</shadows>
|
||||
</scene>
|
||||
|
||||
<gui fullscreen='0'>
|
||||
<camera name='user_camera'>
|
||||
<pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
|
||||
<view_controller>orbit</view_controller>
|
||||
<projection_type>perspective</projection_type>
|
||||
</camera>
|
||||
</gui>
|
||||
|
||||
<physics type="ode">
|
||||
<real_time_update_rate>1000.0</real_time_update_rate>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<ode>
|
||||
<solver>
|
||||
<type>quick</type>
|
||||
<iters>150</iters>
|
||||
<precon_iters>0</precon_iters>
|
||||
<sor>1.400000</sor>
|
||||
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
|
||||
</solver>
|
||||
<constraints>
|
||||
<cfm>0.00001</cfm>
|
||||
<erp>0.2</erp>
|
||||
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.01000</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
</physics>
|
||||
|
||||
<model name="turtlebot3_world">
|
||||
<static>1</static>
|
||||
<include>
|
||||
<uri>model://turtlebot3_world</uri>
|
||||
</include>
|
||||
</model>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user