X-lanni
684 lines
20 KiB
XML
684 lines
20 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
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<sdf version="1.6">
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<world name="default">
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<gravity>0 0 -9.8</gravity>
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<physics default="0" name="default_physics" type="ode">
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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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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<!--model name="aws_robomaker_warehouse_RoofB_01_001">
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<include>
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<uri>model://aws_robomaker_warehouse_RoofB_01</uri>
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</include>
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<pose frame="">0.0 0.0 0 0 0 0</pose>
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</model-->
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<model name="aws_robomaker_warehouse_ShelfF_01_001">
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<include>
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<uri>model://aws_robomaker_warehouse_ShelfF_01</uri>
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</include>
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<pose frame="">-5.795143 -0.956635 0 0 0 0</pose>
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</model>
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<model name="aws_robomaker_warehouse_WallB_01_001">
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<include>
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<uri>model://aws_robomaker_warehouse_WallB_01</uri>
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</include>
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<pose frame="">0.0 0.0 0 0 0 0</pose>
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</model>
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<model name="aws_robomaker_warehouse_ShelfE_01_001">
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<include>
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<uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
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</include>
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<pose frame="">4.73156 0.57943 0 0 0 0</pose>
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</model>
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<model name="aws_robomaker_warehouse_ShelfE_01_002">
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<include>
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<uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
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</include>
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<pose frame="">4.73156 -4.827049 0 0 0 0</pose>
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</model>
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<model name="aws_robomaker_warehouse_ShelfE_01_003">
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<include>
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<uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
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</include>
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<pose frame="">4.73156 -8.6651 0 0 0 0</pose>
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</model>
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<model name="aws_robomaker_warehouse_ShelfD_01_001">
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<include>
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<uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
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</include>
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<pose frame="">4.73156 -1.242668 0 0 0 0</pose>
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</model>
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<model name="aws_robomaker_warehouse_ShelfD_01_002">
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<include>
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<uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
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</include>
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<pose frame="">4.73156 -3.038551 0 0 0 0</pose>
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</model>
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<model name="aws_robomaker_warehouse_ShelfD_01_003">
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<include>
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<uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
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</include>
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<pose frame="">4.73156 -6.750542 0 0 0 0</pose>
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</model>
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<!--model name="aws_robomaker_warehouse_DeskC_01_001">
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<include>
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<uri>model://aws_robomaker_warehouse_DeskC_01</uri>
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</include>
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<pose frame="">-0.061684 6.135864 0 0 0 0</pose>
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</model>
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<model name="aws_robomaker_warehouse_DeskC_01_002">
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<include>
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<uri>model://aws_robomaker_warehouse_DeskC_01</uri>
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</include>
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<pose frame="">-0.061684 3.039 0 0 0 0</pose>
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</model>
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<model name="aws_robomaker_warehouse_DeskC_01_003">
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<include>
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<uri>model://aws_robomaker_warehouse_DeskC_01</uri>
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</include>
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<pose frame="">-0.061684 -6.6493 0 0 0 0</pose>
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</model-->
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<model name="aws_robomaker_warehouse_GroundB_01_001">
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<include>
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<uri>model://aws_robomaker_warehouse_GroundB_01</uri>
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</include>
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<pose frame="">0.0 0.0 -0.090092 0 0 0</pose>
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</model>
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<model name="aws_robomaker_warehouse_Lamp_01_005">
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<include>
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<uri>model://aws_robomaker_warehouse_Lamp_01</uri>
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</include>
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<pose frame="">0 0 -4 0 0 0</pose>
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</model>
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<model name="aws_robomaker_warehouse_Bucket_01_020">
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<include>
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<uri>model://aws_robomaker_warehouse_Bucket_01</uri>
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</include>
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<pose frame="">0.433449 9.631706 0 0 0 -1.563161</pose>
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</model>
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<model name="aws_robomaker_warehouse_Bucket_01_021">
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<include>
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<uri>model://aws_robomaker_warehouse_Bucket_01</uri>
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</include>
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<pose frame="">-1.8321 -6.3752 0 0 0 -1.563161</pose>
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</model>
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<model name="aws_robomaker_warehouse_Bucket_01_022">
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<include>
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<uri>model://aws_robomaker_warehouse_Bucket_01</uri>
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</include>
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<pose frame="">0.433449 8.59 0 0 0 -1.563161</pose>
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</model>
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<model name='aws_robomaker_warehouse_ClutteringA_01_016'>
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<include>
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<uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
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</include>
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<pose frame=''>5.708138 8.616844 -0.017477 0 0 0</pose>
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</model>
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<model name='aws_robomaker_warehouse_ClutteringA_01_017'>
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<include>
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<uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
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</include>
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<pose frame=''>3.408638 8.616844 -0.017477 0 0 0</pose>
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</model>
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<model name='aws_robomaker_warehouse_ClutteringA_01_018'>
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<include>
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<uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
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</include>
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<pose frame=''>-1.491287 5.222435 -0.017477 0 0 -1.583185</pose>
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</model>
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<model name="aws_robomaker_warehouse_ClutteringC_01_027">
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<include>
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<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
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</include>
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<pose frame="">3.324959 3.822449 -0.012064 0 0 1.563871</pose>
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</model>
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<model name="aws_robomaker_warehouse_ClutteringC_01_028">
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<include>
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<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
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</include>
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<pose frame="">5.54171 3.816475 -0.015663 0 0 -1.583191</pose>
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</model>
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<model name="aws_robomaker_warehouse_ClutteringC_01_029">
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<include>
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<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
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</include>
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<pose frame="">5.384239 6.137154 0 0 0 3.150000</pose>
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</model>
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<model name="aws_robomaker_warehouse_ClutteringC_01_030">
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<include>
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<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
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</include>
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<pose frame="">3.236 6.137154 0 0 0 3.150000</pose>
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</model>
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<model name="aws_robomaker_warehouse_ClutteringC_01_031">
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<include>
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<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
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</include>
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<pose frame="">-1.573677 2.301994 -0.015663 0 0 -3.133191</pose>
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</model>
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<model name="aws_robomaker_warehouse_ClutteringC_01_032">
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<include>
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<uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
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</include>
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<pose frame="">-1.2196 9.407 -0.015663 0 0 1.563871</pose>
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</model>
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<model name='aws_robomaker_warehouse_ClutteringD_01_005'>
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<include>
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<uri>model://aws_robomaker_warehouse_ClutteringD_01</uri>
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</include>
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<pose frame=''>-1.634682 -7.811813 -0.319559 0 0 0</pose>
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</model>
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<model name='aws_robomaker_warehouse_TrashCanC_01_002'>
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<include>
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<uri>model://aws_robomaker_warehouse_TrashCanC_01</uri>
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</include>
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<pose frame=''>-1.592441 7.715420 0 0 0 0</pose>
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</model>
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<model name='aws_robomaker_warehouse_PalletJackB_01_001'>
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<include>
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<uri>model://aws_robomaker_warehouse_PalletJackB_01</uri>
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</include>
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<pose frame=''>-0.276098 -9.481944 0.023266 0 0 0</pose>
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</model>
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<light name="Warehouse_CeilingLight_003" type="point">
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<pose frame="">0 0 9 0 0 0</pose>
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<diffuse>0.5 0.5 0.5 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>80</range>
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<constant>0.3</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<cast_shadows>1</cast_shadows>
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<direction>0.1 0.1 -1</direction>
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</light>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose frame=''>-4.70385 10.895 16.2659 -0 0.921795 -1.12701</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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<model name="turtlebot3_waffle">
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<pose>3.45 2.15 0.01 0.0 0.0 3.14</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_common/meshes/waffle_base.dae</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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</visual>
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</link>
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<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="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
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<initial_orientation_as_reference>false</initial_orientation_as_reference>
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<ros>
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<!-- <namespace>/tb3</namespace> -->
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<remapping>~/out:=imu</remapping>
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</ros>
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</plugin>
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</sensor>
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</link>
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<link name="base_scan">
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<inertial>
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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>-0.052 0 0.111 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.0508</radius>
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<length>0.055</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="lidar_sensor_visual">
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<pose>-0.064 0 0.121 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_common/meshes/lds.dae</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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</visual>
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<sensor name="hls_lfcd_lds" type="ray">
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<always_on>true</always_on>
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<visualize>true</visualize>
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<pose>-0.064 0 0.121 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>
|
|
<stddev>0.01</stddev>
|
|
</noise>
|
|
</ray>
|
|
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
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|
<ros>
|
|
<!-- <namespace>/tb3</namespace> -->
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<remapping>~/out:=scan</remapping>
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</ros>
|
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<output_type>sensor_msgs/LaserScan</output_type>
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<frame_name>base_scan</frame_name>
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</plugin>
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</sensor>
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</link>
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|
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<link name="wheel_left_link">
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|
|
<inertial>
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|
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
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|
<inertia>
|
|
<ixx>0.001</ixx>
|
|
<ixy>0.000</ixy>
|
|
<ixz>0.000</ixz>
|
|
<iyy>0.001</iyy>
|
|
<iyz>0.000</iyz>
|
|
<izz>0.001</izz>
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|
</inertia>
|
|
<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>
|
|
<radius>0.033</radius>
|
|
<length>0.018</length>
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</cylinder>
|
|
</geometry>
|
|
<surface>
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|
<!-- This friction pamareter don't contain reliable data!! -->
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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|
</ode>
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|
</friction>
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|
<contact>
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|
<ode>
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|
<soft_cfm>0</soft_cfm>
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|
<soft_erp>0.2</soft_erp>
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|
<kp>1e+5</kp>
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<kd>1</kd>
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|
<max_vel>0.01</max_vel>
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|
<min_depth>0.001</min_depth>
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</ode>
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|
</contact>
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|
</surface>
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</collision>
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|
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<visual name="wheel_left_visual">
|
|
<pose>0.0 0.144 0.023 0 0 0</pose>
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|
<geometry>
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|
<mesh>
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|
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
|
<scale>0.001 0.001 0.001</scale>
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|
</mesh>
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|
</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_common/meshes/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="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>
|
|
|
|
<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>
|
|
|
|
</world>
|
|
</sdf>
|