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+<?xml version="1.0" ?>
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+<!-- =================================================================================== -->
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+<!-- | This document was autogenerated by xacro from turtlebot4.urdf.xacro | -->
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+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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+<!-- =================================================================================== -->
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+<robot name="turtlebot4">
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+ <!-- Create 3 base definition-->
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+ <link name="base_link">
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+ <visual>
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+ <origin rpy="0 0 1.5707963267948966" xyz="0 0 0.039200000000000006"/>
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+ <geometry>
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+ <mesh filename="package://irobot_create_description/meshes/body_visual.dae"/>
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+ </geometry>
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+ </visual>
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+ <collision name="create3_base_collision">
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+ <origin rpy="0 0 1.5707963267948966" xyz="0 0 0.04920000000000001"/>
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+ <geometry>
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+ <cylinder length="0.06" radius="0.16399999999999998"/>
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+ </geometry>
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+ </collision>
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+ <inertial>
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+ <origin xyz="0.0 0 0.0742"/>
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+ <mass value="2.3"/>
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+ <inertia ixx="0.016155199999999998" ixy="0.0" ixz="0.0" iyy="0.016155199999999998" iyz="0.0" izz="0.03093039999999999"/>
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+ </inertial>
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+ </link>
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+ <joint name="bump_front_center_joint" type="fixed">
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+ <parent link="base_link"/>
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+ <child link="bump_front_center"/>
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+ <origin xyz="0 0 0.039200000000000006"/>
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+ </joint>
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+ <link name="bump_front_center">
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+ <visual>
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+ <geometry>
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+ <mesh filename="package://irobot_create_description/meshes/bumper_visual.dae"/>
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <geometry>
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+ <mesh filename="package://irobot_create_description/meshes/bumper_collision.dae"/>
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+ </geometry>
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+ </collision>
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+ <inertial>
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+ <origin xyz="0.08 0 0.02"/>
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+ <mass value="0.1"/>
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+ <inertia ixx="0.0013483753405" ixy="0.0000000454352" ixz="0.0000014434849" iyy="0.0002521736852" iyz="-0.0000000006721" izz="0.0015442525386"/>
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+ </inertial>
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+ </link>
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+ <gazebo reference="bump_front_center">
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+ <mu1>0.1</mu1>
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+ <mu2>0.1</mu2>
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+ <maxVel>0.01</maxVel>
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+ <minDepth>0.001</minDepth>
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+ <maxContacts>10</maxContacts>
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+ <material>Gazebo/DarkGrey</material>
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+ <sensor name="bump_front_center_contact_sensor" type="contact">
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+ <always_on>true</always_on>
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+ <update_rate>62.0</update_rate>
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+ <contact>
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+ <collision>bump_front_center_collision</collision>
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+ </contact>
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+ <plugin filename="libgazebo_ros_create_bumper.so" name="bump_front_center_plugin">
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+ <ros>
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+ <namespace>/</namespace>
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+ <remapping>~/out:=_internal/bumper/event</remapping>
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+ </ros>
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+ </plugin>
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+ </sensor>
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+ </gazebo>
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+ <gazebo reference="bump_front_center_joint">
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+ <preserveFixedJoint>true</preserveFixedJoint>
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+ </gazebo>
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+ <joint name="bump_front_left_joint" type="fixed">
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+ <parent link="base_link"/>
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+ <child link="bump_front_left"/>
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+ <origin rpy="0 0 0.5235985" xyz="0.02345 -0.0875 0.025"/>
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+ </joint>
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+ <link name="bump_front_left"/>
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+ <joint name="bump_front_right_joint" type="fixed">
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+ <parent link="base_link"/>
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+ <child link="bump_front_right"/>
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+ <origin rpy="0 0 -0.5235985" xyz="0.02345 0.0875 0.025"/>
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+ </joint>
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+ <link name="bump_front_right"/>
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+ <joint name="bump_left_joint" type="fixed">
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+ <parent link="base_link"/>
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+ <child link="bump_left"/>
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+ <origin rpy="0 0 1.047193" xyz="0.0875 -0.15155 0.025"/>
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+ </joint>
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+ <link name="bump_left"/>
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+ <joint name="bump_right_joint" type="fixed">
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+ <parent link="base_link"/>
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+ <child link="bump_right"/>
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+ <origin rpy="0 0 -1.047193" xyz="0.0875 0.15155 0.025"/>
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+ </joint>
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+ <link name="bump_right"/>
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+ <joint name="wheel_drop_left_joint" type="prismatic">
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+ <parent link="base_link"/>
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+ <child link="wheel_drop_left"/>
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+ <origin rpy="-1.5707963267948966 0 0" xyz="0 0.1165 0.04020000000000001"/>
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+ <axis xyz="0 1 0"/>
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+ <limit effort="0" lower="0" upper="0.03" velocity="0"/>
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+ <!-- Damping is big enough to not make the body oscillate too much when it's lifted up -->
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+ <dynamics damping="50" friction="0.1"/>
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+ </joint>
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+ <!-- Gazebo parameters to simulate a spring -->
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+ <gazebo reference="wheel_drop_left_joint">
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+ <provideFeedback>false</provideFeedback>
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+ <implicitSpringDamper>true</implicitSpringDamper>
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+ <!-- This value should be high enough so that the wheeldrop can
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+ retract with the robot's weight (mass * gravity) -->
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+ <springStiffness>400</springStiffness>
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+ <springReference>0.03</springReference>
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+ </gazebo>
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+ <link name="wheel_drop_left">
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+ <inertial>
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+ <mass value="0.05"/>
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+ <origin xyz="0 0 0"/>
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+ <inertia ixx="2.0833333333333336e-05" ixy="0.0" ixz="0.0" iyy="2.0833333333333336e-05" iyz="0.0" izz="2.0833333333333336e-05"/>
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+ </inertial>
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+ </link>
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+ <gazebo>
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+ <plugin filename="libgazebo_ros_create_wheel_drop.so" name="wheel_drop_left_plugin">
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+ <ros>
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+ <namespace>/</namespace>
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+ <remapping>~/out:=_internal/wheel_drop/left_wheel/event</remapping>
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+ </ros>
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+ <update_rate>62</update_rate>
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+ <detection_threshold>0.03</detection_threshold>
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+ <joint_name>wheel_drop_left_joint</joint_name>
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+ <frame_id>wheel_drop_left</frame_id>
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+ </plugin>
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+ </gazebo>
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+ <joint name="left_wheel_joint" type="continuous">
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+ <parent link="wheel_drop_left"/>
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+ <child link="left_wheel"/>
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+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <axis xyz="0 0 1"/>
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+ </joint>
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+ <link name="left_wheel">
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+ <visual>
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+ <geometry>
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+ <cylinder length="0.015" radius="0.035750000000000004"/>
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+ </geometry>
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+ <!-- Give black color to wheels in Rviz -->
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+ <material name="black">
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+ <color rgba="0.1 0.1 0.1 1"/>
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+ </material>
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+ </visual>
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+ <collision>
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+ <geometry>
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+ <cylinder length="0.015" radius="0.035750000000000004"/>
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+ </geometry>
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+ </collision>
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+ <inertial>
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+ <origin xyz="0 0 0"/>
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+ <mass value="0.2"/>
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+ <inertia ixx="6.765312500000001e-05" ixy="0.0" ixz="0.0" iyy="6.765312500000001e-05" iyz="0.0" izz="0.00012780625000000003"/>
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+ </inertial>
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+ </link>
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+ <gazebo reference="left_wheel">
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+ <mu1>1.0</mu1>
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+ <mu2>1.0</mu2>
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+ <kp>1000000.0</kp>
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+ <kd>100.0</kd>
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+ <minDepth>0.0001</minDepth>
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+ <maxVel>1.0</maxVel>
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+ <material>Gazebo/DarkGrey</material>
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+ </gazebo>
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+ <ros2_control name="left_wheel_controller" type="system">
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+ <hardware>
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+ <plugin>gazebo_ros2_control/GazeboSystem</plugin>
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+ </hardware>
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+ <joint name="left_wheel_joint">
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+ <state_interface name="velocity"/>
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+ <state_interface name="position"/>
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+ <command_interface name="velocity"/>
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+ </joint>
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+ </ros2_control>
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+ <joint name="wheel_drop_right_joint" type="prismatic">
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+ <parent link="base_link"/>
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+ <child link="wheel_drop_right"/>
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+ <origin rpy="-1.5707963267948966 0 0" xyz="0 -0.1165 0.04020000000000001"/>
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+ <axis xyz="0 1 0"/>
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+ <limit effort="0" lower="0" upper="0.03" velocity="0"/>
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+ <!-- Damping is big enough to not make the body oscillate too much when it's lifted up -->
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+ <dynamics damping="50" friction="0.1"/>
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+ </joint>
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+ <!-- Gazebo parameters to simulate a spring -->
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+ <gazebo reference="wheel_drop_right_joint">
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+ <provideFeedback>false</provideFeedback>
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+ <implicitSpringDamper>true</implicitSpringDamper>
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+ <!-- This value should be high enough so that the wheeldrop can
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+ retract with the robot's weight (mass * gravity) -->
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+ <springStiffness>400</springStiffness>
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+ <springReference>0.03</springReference>
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+ </gazebo>
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+ <link name="wheel_drop_right">
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+ <inertial>
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+ <mass value="0.05"/>
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+ <origin xyz="0 0 0"/>
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+ <inertia ixx="2.0833333333333336e-05" ixy="0.0" ixz="0.0" iyy="2.0833333333333336e-05" iyz="0.0" izz="2.0833333333333336e-05"/>
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+ </inertial>
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+ </link>
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+ <gazebo>
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+ <plugin filename="libgazebo_ros_create_wheel_drop.so" name="wheel_drop_right_plugin">
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+ <ros>
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+ <namespace>/</namespace>
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+ <remapping>~/out:=_internal/wheel_drop/right_wheel/event</remapping>
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+ </ros>
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+ <update_rate>62</update_rate>
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+ <detection_threshold>0.03</detection_threshold>
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+ <joint_name>wheel_drop_right_joint</joint_name>
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+ <frame_id>wheel_drop_right</frame_id>
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+ </plugin>
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+ </gazebo>
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+ <joint name="right_wheel_joint" type="continuous">
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+ <parent link="wheel_drop_right"/>
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+ <child link="right_wheel"/>
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+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <axis xyz="0 0 1"/>
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+ </joint>
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+ <link name="right_wheel">
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+ <visual>
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+ <geometry>
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+ <cylinder length="0.015" radius="0.035750000000000004"/>
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+ </geometry>
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+ <!-- Give black color to wheels in Rviz -->
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+ <material name="black">
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+ <color rgba="0.1 0.1 0.1 1"/>
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+ </material>
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+ </visual>
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+ <collision>
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+ <geometry>
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+ <cylinder length="0.015" radius="0.035750000000000004"/>
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+ </geometry>
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+ </collision>
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+ <inertial>
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+ <origin xyz="0 0 0"/>
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+ <mass value="0.2"/>
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+ <inertia ixx="6.765312500000001e-05" ixy="0.0" ixz="0.0" iyy="6.765312500000001e-05" iyz="0.0" izz="0.00012780625000000003"/>
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+ </inertial>
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+ </link>
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+ <gazebo reference="right_wheel">
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+ <mu1>1.0</mu1>
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+ <mu2>1.0</mu2>
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+ <kp>1000000.0</kp>
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+ <kd>100.0</kd>
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+ <minDepth>0.0001</minDepth>
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+ <maxVel>1.0</maxVel>
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+ <material>Gazebo/DarkGrey</material>
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+ </gazebo>
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+ <ros2_control name="right_wheel_controller" type="system">
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+ <hardware>
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+ <plugin>gazebo_ros2_control/GazeboSystem</plugin>
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+ </hardware>
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+ <joint name="right_wheel_joint">
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+ <state_interface name="velocity"/>
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+ <state_interface name="position"/>
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+ <command_interface name="velocity"/>
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+ </joint>
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+ </ros2_control>
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+ <joint name="front_caster_joint" type="fixed">
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+ <parent link="base_link"/>
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+ <child link="front_caster_link"/>
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+ <origin rpy="-1.5707963267948966 0 0" xyz="0.125 0 0.012200000000000003"/>
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+ </joint>
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+ <link name="front_caster_link">
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+ <visual>
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+ <geometry>
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+ <sphere radius="0.01"/>
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+ </geometry>
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+ <!-- Give black color to caster in Rviz -->
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+ <material name="black">
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+ <color rgba="0.1 0.1 0.1 1"/>
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+ </material>
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+ </visual>
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+ <collision>
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+ <geometry>
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+ <sphere radius="0.01"/>
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+ </geometry>
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+ </collision>
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+ <inertial>
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+ <mass value="0.01"/>
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+ <inertia ixx="4.0000000000000003e-07" ixy="0.0" ixz="0.0" iyy="4.0000000000000003e-07" iyz="0.0" izz="4.0000000000000003e-07"/>
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+ </inertial>
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+ </link>
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+ <gazebo reference="front_caster_joint">
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+ <preserveFixedJoint>true</preserveFixedJoint>
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+ </gazebo>
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+ <gazebo reference="front_caster_link">
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+ <material>Gazebo/DarkGrey</material>
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+ <mu1>0.1</mu1>
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+ <mu2>0.1</mu2>
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+ <kp>1000000.0</kp>
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+ <kd>1.0</kd>
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+ </gazebo>
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+ <joint name="imu_joint" type="fixed">
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+ <origin xyz="0.050613 0.043673 0.0844"/>
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+ <parent link="base_link"/>
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+ <child link="imu_link"/>
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+ </joint>
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+ <link name="imu_link">
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+ <inertial>
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+ <mass value="0.01"/>
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+ <origin xyz="0 0 0"/>
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+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
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+ </inertial>
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+ </link>
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+ <gazebo reference="imu_link">
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+ <sensor name="imu" type="imu">
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+ <always_on>true</always_on>
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+ <update_rate>62</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>0.0</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>0.0</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>0.0</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>0.0</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>0.0</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>0.0</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 filename="libgazebo_ros_create_imu.so" name="imu_plugin">
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+ <ros>
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+ <namespace>/</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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+ </gazebo>
|
|
|
+ <gazebo reference="imu_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo>
|
|
|
+ <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
|
|
|
+ <parameters> /home/adam/turtlebot4_ws/install/irobot_create_control/share/irobot_create_control/config/control.yaml </parameters>
|
|
|
+ </plugin>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="mouse_joint" type="fixed">
|
|
|
+ <origin rpy="0 0 -0.7853981633974483" xyz="0.1015 0.087 0.009200000000000007"/>
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="mouse"/>
|
|
|
+ </joint>
|
|
|
+ <link name="mouse">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo>
|
|
|
+ <plugin filename="libgazebo_ros_create_optical_mouse.so" name="mouse_plugin">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=mouse</remapping>
|
|
|
+ </ros>
|
|
|
+ <update_rate>62</update_rate>
|
|
|
+ <link_name>mouse</link_name>
|
|
|
+ </plugin>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="mouse_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="cliff_side_left_joint" type="fixed">
|
|
|
+ <origin rpy="0 1.3962634015954636 2.921681167838508" xyz="0.06 0.145 0.01920000000000001"/>
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="cliff_side_left"/>
|
|
|
+ </joint>
|
|
|
+ <link name="cliff_side_left">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="cliff_side_left">
|
|
|
+ <sensor name="cliff_side_left" type="ray">
|
|
|
+ <update_rate>62</update_rate>
|
|
|
+ <visualize>False</visualize>
|
|
|
+ <always_on>true</always_on>
|
|
|
+ <ray>
|
|
|
+ <scan>
|
|
|
+ <horizontal>
|
|
|
+ <samples>1.0</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.04363323129985824</min_angle>
|
|
|
+ <max_angle>0.04363323129985824</max_angle>
|
|
|
+ </horizontal>
|
|
|
+ <vertical>
|
|
|
+ <samples>1</samples>
|
|
|
+ <resolution>1</resolution>
|
|
|
+ <min_angle>0</min_angle>
|
|
|
+ <max_angle>0</max_angle>
|
|
|
+ </vertical>
|
|
|
+ </scan>
|
|
|
+ <range>
|
|
|
+ <min>0.0001</min>
|
|
|
+ <max>0.15</max>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ </range>
|
|
|
+ </ray>
|
|
|
+ <!-- Noise is currently disabled -->
|
|
|
+ <noise>
|
|
|
+ <type>gaussian</type>
|
|
|
+ <mean>0.0</mean>
|
|
|
+ <stddev>0.0</stddev>
|
|
|
+ </noise>
|
|
|
+ <plugin filename="libgazebo_ros_create_cliff_sensor.so" name="cliff_side_left">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=_internal/cliff_side_left/event</remapping>
|
|
|
+ </ros>
|
|
|
+ <detection_threshold>0.08</detection_threshold>
|
|
|
+ <frame_id>cliff_side_left</frame_id>
|
|
|
+ </plugin>
|
|
|
+ </sensor>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="cliff_side_right_joint" type="fixed">
|
|
|
+ <origin rpy="0 1.3962634015954636 -2.921681167838508" xyz="0.06 -0.145 0.01920000000000001"/>
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="cliff_side_right"/>
|
|
|
+ </joint>
|
|
|
+ <link name="cliff_side_right">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="cliff_side_right">
|
|
|
+ <sensor name="cliff_side_right" type="ray">
|
|
|
+ <update_rate>62</update_rate>
|
|
|
+ <visualize>False</visualize>
|
|
|
+ <always_on>true</always_on>
|
|
|
+ <ray>
|
|
|
+ <scan>
|
|
|
+ <horizontal>
|
|
|
+ <samples>1.0</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.04363323129985824</min_angle>
|
|
|
+ <max_angle>0.04363323129985824</max_angle>
|
|
|
+ </horizontal>
|
|
|
+ <vertical>
|
|
|
+ <samples>1</samples>
|
|
|
+ <resolution>1</resolution>
|
|
|
+ <min_angle>0</min_angle>
|
|
|
+ <max_angle>0</max_angle>
|
|
|
+ </vertical>
|
|
|
+ </scan>
|
|
|
+ <range>
|
|
|
+ <min>0.0001</min>
|
|
|
+ <max>0.15</max>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ </range>
|
|
|
+ </ray>
|
|
|
+ <!-- Noise is currently disabled -->
|
|
|
+ <noise>
|
|
|
+ <type>gaussian</type>
|
|
|
+ <mean>0.0</mean>
|
|
|
+ <stddev>0.0</stddev>
|
|
|
+ </noise>
|
|
|
+ <plugin filename="libgazebo_ros_create_cliff_sensor.so" name="cliff_side_right">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=_internal/cliff_side_right/event</remapping>
|
|
|
+ </ros>
|
|
|
+ <detection_threshold>0.08</detection_threshold>
|
|
|
+ <frame_id>cliff_side_right</frame_id>
|
|
|
+ </plugin>
|
|
|
+ </sensor>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="cliff_front_left_joint" type="fixed">
|
|
|
+ <origin rpy="0 1.3962634015954636 1.1397000015522971" xyz="0.16 0.045 0.01920000000000001"/>
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="cliff_front_left"/>
|
|
|
+ </joint>
|
|
|
+ <link name="cliff_front_left">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="cliff_front_left">
|
|
|
+ <sensor name="cliff_front_left" type="ray">
|
|
|
+ <update_rate>62</update_rate>
|
|
|
+ <visualize>False</visualize>
|
|
|
+ <always_on>true</always_on>
|
|
|
+ <ray>
|
|
|
+ <scan>
|
|
|
+ <horizontal>
|
|
|
+ <samples>1.0</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.04363323129985824</min_angle>
|
|
|
+ <max_angle>0.04363323129985824</max_angle>
|
|
|
+ </horizontal>
|
|
|
+ <vertical>
|
|
|
+ <samples>1</samples>
|
|
|
+ <resolution>1</resolution>
|
|
|
+ <min_angle>0</min_angle>
|
|
|
+ <max_angle>0</max_angle>
|
|
|
+ </vertical>
|
|
|
+ </scan>
|
|
|
+ <range>
|
|
|
+ <min>0.0001</min>
|
|
|
+ <max>0.15</max>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ </range>
|
|
|
+ </ray>
|
|
|
+ <!-- Noise is currently disabled -->
|
|
|
+ <noise>
|
|
|
+ <type>gaussian</type>
|
|
|
+ <mean>0.0</mean>
|
|
|
+ <stddev>0.0</stddev>
|
|
|
+ </noise>
|
|
|
+ <plugin filename="libgazebo_ros_create_cliff_sensor.so" name="cliff_front_left">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=_internal/cliff_front_left/event</remapping>
|
|
|
+ </ros>
|
|
|
+ <detection_threshold>0.08</detection_threshold>
|
|
|
+ <frame_id>cliff_front_left</frame_id>
|
|
|
+ </plugin>
|
|
|
+ </sensor>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="cliff_front_right_joint" type="fixed">
|
|
|
+ <origin rpy="0 1.3962634015954636 -1.1397000015522971" xyz="0.16 -0.045 0.01920000000000001"/>
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="cliff_front_right"/>
|
|
|
+ </joint>
|
|
|
+ <link name="cliff_front_right">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="cliff_front_right">
|
|
|
+ <sensor name="cliff_front_right" type="ray">
|
|
|
+ <update_rate>62</update_rate>
|
|
|
+ <visualize>False</visualize>
|
|
|
+ <always_on>true</always_on>
|
|
|
+ <ray>
|
|
|
+ <scan>
|
|
|
+ <horizontal>
|
|
|
+ <samples>1.0</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.04363323129985824</min_angle>
|
|
|
+ <max_angle>0.04363323129985824</max_angle>
|
|
|
+ </horizontal>
|
|
|
+ <vertical>
|
|
|
+ <samples>1</samples>
|
|
|
+ <resolution>1</resolution>
|
|
|
+ <min_angle>0</min_angle>
|
|
|
+ <max_angle>0</max_angle>
|
|
|
+ </vertical>
|
|
|
+ </scan>
|
|
|
+ <range>
|
|
|
+ <min>0.0001</min>
|
|
|
+ <max>0.15</max>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ </range>
|
|
|
+ </ray>
|
|
|
+ <!-- Noise is currently disabled -->
|
|
|
+ <noise>
|
|
|
+ <type>gaussian</type>
|
|
|
+ <mean>0.0</mean>
|
|
|
+ <stddev>0.0</stddev>
|
|
|
+ </noise>
|
|
|
+ <plugin filename="libgazebo_ros_create_cliff_sensor.so" name="cliff_front_right">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=_internal/cliff_front_right/event</remapping>
|
|
|
+ </ros>
|
|
|
+ <detection_threshold>0.08</detection_threshold>
|
|
|
+ <frame_id>cliff_front_right</frame_id>
|
|
|
+ </plugin>
|
|
|
+ </sensor>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="ir_intensity_front_center_left_joint" type="fixed">
|
|
|
+ <origin xyz="0.1540 0 0.05720000000000001"/>
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="ir_intensity_front_center_left"/>
|
|
|
+ </joint>
|
|
|
+ <link name="ir_intensity_front_center_left">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="ir_intensity_front_center_left_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="ir_intensity_front_center_left">
|
|
|
+ <sensor name="ir_intensity_front_center_left" type="ray">
|
|
|
+ <update_rate>62.0</update_rate>
|
|
|
+ <visualize>False</visualize>
|
|
|
+ <always_on>true</always_on>
|
|
|
+ <ray>
|
|
|
+ <scan>
|
|
|
+ <horizontal>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </horizontal>
|
|
|
+ <vertical>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </vertical>
|
|
|
+ </scan>
|
|
|
+ <range>
|
|
|
+ <min>0.025</min>
|
|
|
+ <max>0.2</max>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ </range>
|
|
|
+ </ray>
|
|
|
+ <!-- Noise is currently disabled -->
|
|
|
+ <noise>
|
|
|
+ <type>gaussian</type>
|
|
|
+ <mean>0.0</mean>
|
|
|
+ <stddev>0.0</stddev>
|
|
|
+ </noise>
|
|
|
+ <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_front_center_left">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=_internal/ir_intensity_front_center_left</remapping>
|
|
|
+ </ros>
|
|
|
+ </plugin>
|
|
|
+ </sensor>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="ir_intensity_front_center_right_joint" type="fixed">
|
|
|
+ <origin rpy="0 0 -0.436" xyz="0.1396 -0.0651 0.05720000000000001"/>
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="ir_intensity_front_center_right"/>
|
|
|
+ </joint>
|
|
|
+ <link name="ir_intensity_front_center_right">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="ir_intensity_front_center_right_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="ir_intensity_front_center_right">
|
|
|
+ <sensor name="ir_intensity_front_center_right" type="ray">
|
|
|
+ <update_rate>62.0</update_rate>
|
|
|
+ <visualize>False</visualize>
|
|
|
+ <always_on>true</always_on>
|
|
|
+ <ray>
|
|
|
+ <scan>
|
|
|
+ <horizontal>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </horizontal>
|
|
|
+ <vertical>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </vertical>
|
|
|
+ </scan>
|
|
|
+ <range>
|
|
|
+ <min>0.025</min>
|
|
|
+ <max>0.2</max>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ </range>
|
|
|
+ </ray>
|
|
|
+ <!-- Noise is currently disabled -->
|
|
|
+ <noise>
|
|
|
+ <type>gaussian</type>
|
|
|
+ <mean>0.0</mean>
|
|
|
+ <stddev>0.0</stddev>
|
|
|
+ </noise>
|
|
|
+ <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_front_center_right">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=_internal/ir_intensity_front_center_right</remapping>
|
|
|
+ </ros>
|
|
|
+ </plugin>
|
|
|
+ </sensor>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="ir_intensity_front_left_joint" type="fixed">
|
|
|
+ <origin rpy="0 0 0.436" xyz="0.1396 0.0651 0.05720000000000001"/>
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="ir_intensity_front_left"/>
|
|
|
+ </joint>
|
|
|
+ <link name="ir_intensity_front_left">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="ir_intensity_front_left_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="ir_intensity_front_left">
|
|
|
+ <sensor name="ir_intensity_front_left" type="ray">
|
|
|
+ <update_rate>62.0</update_rate>
|
|
|
+ <visualize>False</visualize>
|
|
|
+ <always_on>true</always_on>
|
|
|
+ <ray>
|
|
|
+ <scan>
|
|
|
+ <horizontal>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </horizontal>
|
|
|
+ <vertical>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </vertical>
|
|
|
+ </scan>
|
|
|
+ <range>
|
|
|
+ <min>0.025</min>
|
|
|
+ <max>0.2</max>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ </range>
|
|
|
+ </ray>
|
|
|
+ <!-- Noise is currently disabled -->
|
|
|
+ <noise>
|
|
|
+ <type>gaussian</type>
|
|
|
+ <mean>0.0</mean>
|
|
|
+ <stddev>0.0</stddev>
|
|
|
+ </noise>
|
|
|
+ <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_front_left">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=_internal/ir_intensity_front_left</remapping>
|
|
|
+ </ros>
|
|
|
+ </plugin>
|
|
|
+ </sensor>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="ir_intensity_front_right_joint" type="fixed">
|
|
|
+ <origin rpy="0 0 -0.873" xyz="0.0990 -0.1180 0.05720000000000001"/>
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="ir_intensity_front_right"/>
|
|
|
+ </joint>
|
|
|
+ <link name="ir_intensity_front_right">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="ir_intensity_front_right_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="ir_intensity_front_right">
|
|
|
+ <sensor name="ir_intensity_front_right" type="ray">
|
|
|
+ <update_rate>62.0</update_rate>
|
|
|
+ <visualize>False</visualize>
|
|
|
+ <always_on>true</always_on>
|
|
|
+ <ray>
|
|
|
+ <scan>
|
|
|
+ <horizontal>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </horizontal>
|
|
|
+ <vertical>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </vertical>
|
|
|
+ </scan>
|
|
|
+ <range>
|
|
|
+ <min>0.025</min>
|
|
|
+ <max>0.2</max>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ </range>
|
|
|
+ </ray>
|
|
|
+ <!-- Noise is currently disabled -->
|
|
|
+ <noise>
|
|
|
+ <type>gaussian</type>
|
|
|
+ <mean>0.0</mean>
|
|
|
+ <stddev>0.0</stddev>
|
|
|
+ </noise>
|
|
|
+ <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_front_right">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=_internal/ir_intensity_front_right</remapping>
|
|
|
+ </ros>
|
|
|
+ </plugin>
|
|
|
+ </sensor>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="ir_intensity_left_joint" type="fixed">
|
|
|
+ <origin rpy="0 0 0.873" xyz="0.0990 0.1180 0.05720000000000001"/>
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="ir_intensity_left"/>
|
|
|
+ </joint>
|
|
|
+ <link name="ir_intensity_left">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="ir_intensity_left_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="ir_intensity_left">
|
|
|
+ <sensor name="ir_intensity_left" type="ray">
|
|
|
+ <update_rate>62.0</update_rate>
|
|
|
+ <visualize>False</visualize>
|
|
|
+ <always_on>true</always_on>
|
|
|
+ <ray>
|
|
|
+ <scan>
|
|
|
+ <horizontal>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </horizontal>
|
|
|
+ <vertical>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </vertical>
|
|
|
+ </scan>
|
|
|
+ <range>
|
|
|
+ <min>0.025</min>
|
|
|
+ <max>0.2</max>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ </range>
|
|
|
+ </ray>
|
|
|
+ <!-- Noise is currently disabled -->
|
|
|
+ <noise>
|
|
|
+ <type>gaussian</type>
|
|
|
+ <mean>0.0</mean>
|
|
|
+ <stddev>0.0</stddev>
|
|
|
+ </noise>
|
|
|
+ <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_left">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=_internal/ir_intensity_left</remapping>
|
|
|
+ </ros>
|
|
|
+ </plugin>
|
|
|
+ </sensor>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="ir_intensity_right_joint" type="fixed">
|
|
|
+ <origin rpy="0 0 -1.309" xyz="0.0399 -0.1488 0.05720000000000001"/>
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="ir_intensity_right"/>
|
|
|
+ </joint>
|
|
|
+ <link name="ir_intensity_right">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="ir_intensity_right_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="ir_intensity_right">
|
|
|
+ <sensor name="ir_intensity_right" type="ray">
|
|
|
+ <update_rate>62.0</update_rate>
|
|
|
+ <visualize>False</visualize>
|
|
|
+ <always_on>true</always_on>
|
|
|
+ <ray>
|
|
|
+ <scan>
|
|
|
+ <horizontal>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </horizontal>
|
|
|
+ <vertical>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </vertical>
|
|
|
+ </scan>
|
|
|
+ <range>
|
|
|
+ <min>0.025</min>
|
|
|
+ <max>0.2</max>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ </range>
|
|
|
+ </ray>
|
|
|
+ <!-- Noise is currently disabled -->
|
|
|
+ <noise>
|
|
|
+ <type>gaussian</type>
|
|
|
+ <mean>0.0</mean>
|
|
|
+ <stddev>0.0</stddev>
|
|
|
+ </noise>
|
|
|
+ <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_right">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=_internal/ir_intensity_right</remapping>
|
|
|
+ </ros>
|
|
|
+ </plugin>
|
|
|
+ </sensor>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="ir_intensity_side_left_joint" type="fixed">
|
|
|
+ <origin rpy="0 0 1.309" xyz="0.0399 0.1488 0.05720000000000001"/>
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="ir_intensity_side_left"/>
|
|
|
+ </joint>
|
|
|
+ <link name="ir_intensity_side_left">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="ir_intensity_side_left_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="ir_intensity_side_left">
|
|
|
+ <sensor name="ir_intensity_side_left" type="ray">
|
|
|
+ <update_rate>62.0</update_rate>
|
|
|
+ <visualize>False</visualize>
|
|
|
+ <always_on>true</always_on>
|
|
|
+ <ray>
|
|
|
+ <scan>
|
|
|
+ <horizontal>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </horizontal>
|
|
|
+ <vertical>
|
|
|
+ <samples>5</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-0.08726646259971647</min_angle>
|
|
|
+ <max_angle>0.08726646259971647</max_angle>
|
|
|
+ </vertical>
|
|
|
+ </scan>
|
|
|
+ <range>
|
|
|
+ <min>0.025</min>
|
|
|
+ <max>0.2</max>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ </range>
|
|
|
+ </ray>
|
|
|
+ <!-- Noise is currently disabled -->
|
|
|
+ <noise>
|
|
|
+ <type>gaussian</type>
|
|
|
+ <mean>0.0</mean>
|
|
|
+ <stddev>0.0</stddev>
|
|
|
+ </noise>
|
|
|
+ <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_side_left">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=_internal/ir_intensity_side_left</remapping>
|
|
|
+ </ros>
|
|
|
+ </plugin>
|
|
|
+ </sensor>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="button_1_joint" type="fixed">
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="button_1"/>
|
|
|
+ <origin rpy="0 -1.5707963267948966 0" xyz="0.06 0.37 0.1442"/>
|
|
|
+ </joint>
|
|
|
+ <link name="button_1"/>
|
|
|
+ <joint name="button_2_joint" type="fixed">
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="button_2"/>
|
|
|
+ <origin rpy="0 -1.5707963267948966 0" xyz="0.06 -0.37 0.1442"/>
|
|
|
+ </joint>
|
|
|
+ <link name="button_2"/>
|
|
|
+ <joint name="button_power_joint" type="fixed">
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="button_power"/>
|
|
|
+ <origin rpy="0 -1.5707963267948966 0" xyz="0.06 0 0.1442"/>
|
|
|
+ </joint>
|
|
|
+ <link name="button_power"/>
|
|
|
+ <joint name="ir_omni_joint" type="fixed">
|
|
|
+ <origin xyz="0.153 0 0.09920000000000001"/>
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="ir_omni"/>
|
|
|
+ </joint>
|
|
|
+ <link name="ir_omni">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo>
|
|
|
+ <plugin filename="libgazebo_ros_create_ir_opcode.so" name="ir_omni_plugin">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=ir_opcode</remapping>
|
|
|
+ </ros>
|
|
|
+ <update_rate>31</update_rate>
|
|
|
+ <robot_model_name>create3</robot_model_name>
|
|
|
+ <receiver_link_name>ir_omni</receiver_link_name>
|
|
|
+ <dock_model_name>standard_dock</dock_model_name>
|
|
|
+ <emitter_link_name>halo_link</emitter_link_name>
|
|
|
+ <sensor_0_fov>3.839724354387525</sensor_0_fov>
|
|
|
+ <sensor_0_range>0.01</sensor_0_range>
|
|
|
+ <sensor_1_fov>1.5707963267948966</sensor_1_fov>
|
|
|
+ <sensor_1_range>0.5</sensor_1_range>
|
|
|
+ </plugin>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="ir_omni_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <!-- Ground truth pose -->
|
|
|
+ <gazebo>
|
|
|
+ <plugin filename="libgazebo_ros_p3d.so" name="gazebo_ros_p3d_robot">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>odom:=sim_ground_truth_pose</remapping>
|
|
|
+ </ros>
|
|
|
+ <body_name>base_link</body_name>
|
|
|
+ <frame_name>world</frame_name>
|
|
|
+ <update_rate>62</update_rate>
|
|
|
+ <xyz_offset>0 0 0</xyz_offset>
|
|
|
+ <rpy_offset>0.0 0.0 0.0</rpy_offset>
|
|
|
+ <gaussian_noise>0.0</gaussian_noise>
|
|
|
+ </plugin>
|
|
|
+ </gazebo>
|
|
|
+ <!-- Dock status -->
|
|
|
+ <gazebo>
|
|
|
+ <plugin filename="libgazebo_ros_create_docking_status.so" name="dock_status_publisher">
|
|
|
+ <ros>
|
|
|
+ <namespace>/</namespace>
|
|
|
+ <remapping>~/out:=dock</remapping>
|
|
|
+ </ros>
|
|
|
+ <update_rate>1.0</update_rate>
|
|
|
+ <robot_model_name>create3</robot_model_name>
|
|
|
+ <receiver_link_name>ir_omni</receiver_link_name>
|
|
|
+ <dock_model_name>standard_dock</dock_model_name>
|
|
|
+ <emitter_link_name>halo_link</emitter_link_name>
|
|
|
+ </plugin>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="shell_link_joint" type="fixed">
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="shell_link"/>
|
|
|
+ <origin rpy="0 0 0" xyz="0 0 0.0942"/>
|
|
|
+ </joint>
|
|
|
+ <!-- Turtlebot4 shell definition -->
|
|
|
+ <link name="shell_link">
|
|
|
+ <visual>
|
|
|
+ <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/shell.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ <collision name="shell_collision">
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/shell_collision.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </collision>
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.39"/>
|
|
|
+ <inertia ixx="0.00281295367" ixy="-0.00000137675" ixz="-0.00005790057" iyy="0.00164666421" iyz="0.00000564466" izz="0.00424540124"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="shell_link">
|
|
|
+ <visual>
|
|
|
+ <material>
|
|
|
+ <diffuse>0 0 0 1</diffuse>
|
|
|
+ <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
|
|
|
+ <emissive>0 0 0 1</emissive>
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="front_left_bottom_weight_block_joint" type="fixed">
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="front_left_bottom_weight_block"/>
|
|
|
+ <origin xyz="0.06005267 0.08758841 0.09788546000000001"/>
|
|
|
+ </joint>
|
|
|
+ <link name="front_left_bottom_weight_block">
|
|
|
+ <visual>
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/weight_block.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ <inertial>
|
|
|
+ <origin xyz="0.1 0 0"/>
|
|
|
+ <mass value="0.061"/>
|
|
|
+ <inertia ixx="0.0000093482" ixy="-0.00000337434" ixz="0.0" iyy="0.00000436382" iyz="0.0" izz="0.00001288852"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="front_left_bottom_weight_block_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="front_left_bottom_weight_block">
|
|
|
+ <visual>
|
|
|
+ <material>
|
|
|
+ <diffuse>0.011764705882352941 0.011764705882352941 0.011764705882352941 1</diffuse>
|
|
|
+ <specular>0 0 0 1</specular>
|
|
|
+ <emissive>0 0 0 1</emissive>
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="front_left_top_weight_block_joint" type="fixed">
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="front_left_top_weight_block"/>
|
|
|
+ <origin xyz="0.06005267 0.08758841 0.10688546"/>
|
|
|
+ </joint>
|
|
|
+ <link name="front_left_top_weight_block">
|
|
|
+ <visual>
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/weight_block.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ <inertial>
|
|
|
+ <origin xyz="0.1 0 0"/>
|
|
|
+ <mass value="0.061"/>
|
|
|
+ <inertia ixx="0.0000093482" ixy="-0.00000337434" ixz="0.0" iyy="0.00000436382" iyz="0.0" izz="0.00001288852"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="front_left_top_weight_block_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="front_left_top_weight_block">
|
|
|
+ <visual>
|
|
|
+ <material>
|
|
|
+ <diffuse>0.011764705882352941 0.011764705882352941 0.011764705882352941 1</diffuse>
|
|
|
+ <specular>0 0 0 1</specular>
|
|
|
+ <emissive>0 0 0 1</emissive>
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="front_right_bottom_weight_block_joint" type="fixed">
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="front_right_bottom_weight_block"/>
|
|
|
+ <origin rpy="3.141592653589793 0 0" xyz="0.06005267 -0.08758841 0.09788546000000001"/>
|
|
|
+ </joint>
|
|
|
+ <link name="front_right_bottom_weight_block">
|
|
|
+ <visual>
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/weight_block.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ <inertial>
|
|
|
+ <origin xyz="0.1 0 0"/>
|
|
|
+ <mass value="0.061"/>
|
|
|
+ <inertia ixx="0.0000093482" ixy="-0.00000337434" ixz="0.0" iyy="0.00000436382" iyz="0.0" izz="0.00001288852"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="front_right_bottom_weight_block_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="front_right_bottom_weight_block">
|
|
|
+ <visual>
|
|
|
+ <material>
|
|
|
+ <diffuse>0.011764705882352941 0.011764705882352941 0.011764705882352941 1</diffuse>
|
|
|
+ <specular>0 0 0 1</specular>
|
|
|
+ <emissive>0 0 0 1</emissive>
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="front_right_top_weight_block_joint" type="fixed">
|
|
|
+ <parent link="base_link"/>
|
|
|
+ <child link="front_right_top_weight_block"/>
|
|
|
+ <origin rpy="3.141592653589793 0 0" xyz="0.06005267 -0.08758841 0.10688546"/>
|
|
|
+ </joint>
|
|
|
+ <link name="front_right_top_weight_block">
|
|
|
+ <visual>
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/weight_block.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ <inertial>
|
|
|
+ <origin xyz="0.1 0 0"/>
|
|
|
+ <mass value="0.061"/>
|
|
|
+ <inertia ixx="0.0000093482" ixy="-0.00000337434" ixz="0.0" iyy="0.00000436382" iyz="0.0" izz="0.00001288852"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="front_right_top_weight_block_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="front_right_top_weight_block">
|
|
|
+ <visual>
|
|
|
+ <material>
|
|
|
+ <diffuse>0.011764705882352941 0.011764705882352941 0.011764705882352941 1</diffuse>
|
|
|
+ <specular>0 0 0 1</specular>
|
|
|
+ <emissive>0 0 0 1</emissive>
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="front_left_tower_standoff_joint" type="fixed">
|
|
|
+ <parent link="shell_link"/>
|
|
|
+ <child link="front_left_tower_standoff"/>
|
|
|
+ <origin xyz="0.03063 0.11431 0.14757"/>
|
|
|
+ </joint>
|
|
|
+ <link name="front_left_tower_standoff">
|
|
|
+ <visual>
|
|
|
+ <origin rpy="0 1.5707963267948966 0"/>
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/tower_standoff.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ <collision>
|
|
|
+ <origin rpy="0 0 0"/>
|
|
|
+ <geometry>
|
|
|
+ <cylinder length="0.205" radius="0.006"/>
|
|
|
+ </geometry>
|
|
|
+ </collision>
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.26"/>
|
|
|
+ <inertia ixx="0.00000019604" ixy="0.0" ixz="0.0" iyy="0.00005262313" iyz="0.0" izz="0.00005262313"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="front_left_tower_standoff_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="front_left_tower_standoff">
|
|
|
+ <visual>
|
|
|
+ <material>
|
|
|
+ <diffuse>0 0 0 1</diffuse>
|
|
|
+ <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
|
|
|
+ <emissive>0 0 0 1</emissive>
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="front_right_tower_standoff_joint" type="fixed">
|
|
|
+ <parent link="shell_link"/>
|
|
|
+ <child link="front_right_tower_standoff"/>
|
|
|
+ <origin xyz="0.03063 -0.11431 0.14757"/>
|
|
|
+ </joint>
|
|
|
+ <link name="front_right_tower_standoff">
|
|
|
+ <visual>
|
|
|
+ <origin rpy="0 1.5707963267948966 0"/>
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/tower_standoff.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ <collision>
|
|
|
+ <origin rpy="0 0 0"/>
|
|
|
+ <geometry>
|
|
|
+ <cylinder length="0.205" radius="0.006"/>
|
|
|
+ </geometry>
|
|
|
+ </collision>
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.26"/>
|
|
|
+ <inertia ixx="0.00000019604" ixy="0.0" ixz="0.0" iyy="0.00005262313" iyz="0.0" izz="0.00005262313"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="front_right_tower_standoff_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="front_right_tower_standoff">
|
|
|
+ <visual>
|
|
|
+ <material>
|
|
|
+ <diffuse>0 0 0 1</diffuse>
|
|
|
+ <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
|
|
|
+ <emissive>0 0 0 1</emissive>
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="rear_left_tower_standoff_joint" type="fixed">
|
|
|
+ <parent link="shell_link"/>
|
|
|
+ <child link="rear_left_tower_standoff"/>
|
|
|
+ <origin xyz="-0.07607 0.09066 0.14757"/>
|
|
|
+ </joint>
|
|
|
+ <link name="rear_left_tower_standoff">
|
|
|
+ <visual>
|
|
|
+ <origin rpy="0 1.5707963267948966 0"/>
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/tower_standoff.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ <collision>
|
|
|
+ <origin rpy="0 0 0"/>
|
|
|
+ <geometry>
|
|
|
+ <cylinder length="0.205" radius="0.006"/>
|
|
|
+ </geometry>
|
|
|
+ </collision>
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.26"/>
|
|
|
+ <inertia ixx="0.00000019604" ixy="0.0" ixz="0.0" iyy="0.00005262313" iyz="0.0" izz="0.00005262313"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="rear_left_tower_standoff_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="rear_left_tower_standoff">
|
|
|
+ <visual>
|
|
|
+ <material>
|
|
|
+ <diffuse>0 0 0 1</diffuse>
|
|
|
+ <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
|
|
|
+ <emissive>0 0 0 1</emissive>
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="rear_right_tower_standoff_joint" type="fixed">
|
|
|
+ <parent link="shell_link"/>
|
|
|
+ <child link="rear_right_tower_standoff"/>
|
|
|
+ <origin xyz="-0.07607 -0.09066 0.14757"/>
|
|
|
+ </joint>
|
|
|
+ <link name="rear_right_tower_standoff">
|
|
|
+ <visual>
|
|
|
+ <origin rpy="0 1.5707963267948966 0"/>
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/tower_standoff.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ <collision>
|
|
|
+ <origin rpy="0 0 0"/>
|
|
|
+ <geometry>
|
|
|
+ <cylinder length="0.205" radius="0.006"/>
|
|
|
+ </geometry>
|
|
|
+ </collision>
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.26"/>
|
|
|
+ <inertia ixx="0.00000019604" ixy="0.0" ixz="0.0" iyy="0.00005262313" iyz="0.0" izz="0.00005262313"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="rear_right_tower_standoff_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="rear_right_tower_standoff">
|
|
|
+ <visual>
|
|
|
+ <material>
|
|
|
+ <diffuse>0 0 0 1</diffuse>
|
|
|
+ <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
|
|
|
+ <emissive>0 0 0 1</emissive>
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="tower_sensor_plate_joint" type="fixed">
|
|
|
+ <parent link="shell_link"/>
|
|
|
+ <child link="tower_sensor_plate"/>
|
|
|
+ <origin xyz="0 0 0.25257"/>
|
|
|
+ </joint>
|
|
|
+ <link name="tower_sensor_plate">
|
|
|
+ <visual>
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/tower_sensor_plate.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ <collision>
|
|
|
+ <origin xyz="0 0 0.001"/>
|
|
|
+ <geometry>
|
|
|
+ <cylinder length="0.003" radius="0.137"/>
|
|
|
+ </geometry>
|
|
|
+ </collision>
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.332"/>
|
|
|
+ <inertia ixx="0.00092982299" ixy="0.0" ixz="0.0" iyy="0.00083033498" iyz="0.0" izz="0.00175985947"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="tower_sensor_plate_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="tower_sensor_plate">
|
|
|
+ <visual>
|
|
|
+ <material>
|
|
|
+ <diffuse>0 0 0 1</diffuse>
|
|
|
+ <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
|
|
|
+ <emissive>0 0 0 1</emissive>
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </gazebo>
|
|
|
+ <!-- Turtlebot4 sensor definitions -->
|
|
|
+ <joint name="rplidar_joint" type="fixed">
|
|
|
+ <parent link="shell_link"/>
|
|
|
+ <child link="rplidar_link"/>
|
|
|
+ <origin rpy="0 0 1.5707963267948966" xyz="-0.04 0.0 0.098715"/>
|
|
|
+ </joint>
|
|
|
+ <link name="rplidar_link">
|
|
|
+ <visual>
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/rplidar.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ <collision>
|
|
|
+ <origin xyz="0.0 0.013000000000000001 -0.019"/>
|
|
|
+ <geometry>
|
|
|
+ <box size="0.071 0.1 0.06"/>
|
|
|
+ </geometry>
|
|
|
+ </collision>
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.17"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="0.0001926666666666667" ixy="0.0" ixz="0.0" iyy="0.00012241416666666666" iyz="0.0" izz="0.00021308083333333337"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="rplidar_link">
|
|
|
+ <sensor name="rplidar" type="ray">
|
|
|
+ <update_rate>62.0</update_rate>
|
|
|
+ <visualize>1</visualize>
|
|
|
+ <always_on>true</always_on>
|
|
|
+ <ray>
|
|
|
+ <scan>
|
|
|
+ <horizontal>
|
|
|
+ <samples>640</samples>
|
|
|
+ <resolution>1.0</resolution>
|
|
|
+ <min_angle>-3.141592653589793</min_angle>
|
|
|
+ <max_angle>3.141592653589793</max_angle>
|
|
|
+ </horizontal>
|
|
|
+ <vertical>
|
|
|
+ <samples>1</samples>
|
|
|
+ <resolution>1</resolution>
|
|
|
+ <min_angle>0</min_angle>
|
|
|
+ <max_angle>0</max_angle>
|
|
|
+ </vertical>
|
|
|
+ </scan>
|
|
|
+ <range>
|
|
|
+ <min>0.164</min>
|
|
|
+ <max>12.0</max>
|
|
|
+ <resolution>0.01</resolution>
|
|
|
+ </range>
|
|
|
+ </ray>
|
|
|
+ <!-- Noise is currently disabled -->
|
|
|
+ <noise>
|
|
|
+ <type>gaussian</type>
|
|
|
+ <mean>0.0</mean>
|
|
|
+ <stddev>0.0</stddev>
|
|
|
+ </noise>
|
|
|
+ <plugin filename="dummyfile" name="dummy"/>
|
|
|
+ </sensor>
|
|
|
+ <visual>
|
|
|
+ <material>
|
|
|
+ <diffuse>0.011764705882352941 0.011764705882352941 0.011764705882352941 1</diffuse>
|
|
|
+ <specular>0 0 0 1</specular>
|
|
|
+ <emissive>0 0 0 1</emissive>
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="rplidar_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <joint name="oakd_pro_camera_bracket_joint" type="fixed">
|
|
|
+ <parent link="shell_link"/>
|
|
|
+ <child link="oakd_pro_camera_bracket"/>
|
|
|
+ <origin xyz="-0.11800000000000001 0.0 0.05257"/>
|
|
|
+ </joint>
|
|
|
+ <link name="oakd_pro_camera_bracket">
|
|
|
+ <visual>
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/camera_bracket.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.033"/>
|
|
|
+ <inertia ixx="0.0000579181" ixy="0.0" ixz="0.0000090679" iyy="0.0000559785" iyz="0.0" izz="0.0000140955"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <gazebo reference="oakd_pro_camera_bracket_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="oakd_pro_camera_bracket">
|
|
|
+ <visual>
|
|
|
+ <material>
|
|
|
+ <diffuse>0 0 0 1</diffuse>
|
|
|
+ <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
|
|
|
+ <emissive>0 0 0 1</emissive>
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </gazebo>
|
|
|
+ <!-- Base frame -->
|
|
|
+ <joint name="oakd_pro_joint" type="fixed">
|
|
|
+ <parent link="oakd_pro_camera_bracket"/>
|
|
|
+ <child link="oakd_pro_link"/>
|
|
|
+ <origin xyz="0.0584 0.0 0.09676"/>
|
|
|
+ </joint>
|
|
|
+ <link name="oakd_pro_link">
|
|
|
+ <visual>
|
|
|
+ <geometry>
|
|
|
+ <mesh filename="package://turtlebot4_description/meshes/oakd_pro.dae" scale="1 1 1"/>
|
|
|
+ </geometry>
|
|
|
+ </visual>
|
|
|
+ <collision>
|
|
|
+ <origin xyz="-0.011000000000000001 0.0 -0.005"/>
|
|
|
+ <geometry>
|
|
|
+ <box size="0.0225 0.09699999999999999 0.03"/>
|
|
|
+ </geometry>
|
|
|
+ </collision>
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.061"/>
|
|
|
+ <inertia ixx="0.00000202475" ixy="0.0" ixz="0.0" iyy="0.00001527320" iyz="0.0" izz="0.00001605536"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <!-- RGB Camera -->
|
|
|
+ <link name="oakd_pro_rgb_camera_frame">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <joint name="oakd_pro_rgb_camera_joint" type="fixed">
|
|
|
+ <parent link="oakd_pro_link"/>
|
|
|
+ <child link="oakd_pro_rgb_camera_frame"/>
|
|
|
+ <origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
+ </joint>
|
|
|
+ <link name="oakd_pro_rgb_camera_optical_frame">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <joint name="oakd_pro_rgb_camera_optical_joint" type="fixed">
|
|
|
+ <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
|
|
+ <parent link="oakd_pro_rgb_camera_frame"/>
|
|
|
+ <child link="oakd_pro_rgb_camera_optical_frame"/>
|
|
|
+ </joint>
|
|
|
+ <!-- Left Camera -->
|
|
|
+ <link name="oakd_pro_left_camera_frame">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <joint name="oakd_pro_left_camera_joint" type="fixed">
|
|
|
+ <parent link="oakd_pro_link"/>
|
|
|
+ <child link="oakd_pro_left_camera_frame"/>
|
|
|
+ <origin rpy="0 0 0" xyz="0 0.0375 0"/>
|
|
|
+ </joint>
|
|
|
+ <link name="oakd_pro_left_camera_optical_frame">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <joint name="oakd_pro_left_camera_optical_joint" type="fixed">
|
|
|
+ <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
|
|
+ <parent link="oakd_pro_left_camera_frame"/>
|
|
|
+ <child link="oakd_pro_left_camera_optical_frame"/>
|
|
|
+ </joint>
|
|
|
+ <!-- Right Camera -->
|
|
|
+ <link name="oakd_pro_right_camera_frame">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <joint name="oakd_pro_right_camera_joint" type="fixed">
|
|
|
+ <parent link="oakd_pro_link"/>
|
|
|
+ <child link="oakd_pro_right_camera_frame"/>
|
|
|
+ <origin rpy="0 0 0" xyz="0 -0.0375 0"/>
|
|
|
+ </joint>
|
|
|
+ <link name="oakd_pro_right_camera_optical_frame">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <joint name="oakd_pro_right_camera_optical_joint" type="fixed">
|
|
|
+ <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
|
|
+ <parent link="oakd_pro_right_camera_frame"/>
|
|
|
+ <child link="oakd_pro_right_camera_optical_frame"/>
|
|
|
+ </joint>
|
|
|
+ <!-- IMU -->
|
|
|
+ <link name="oakd_pro_imu_frame">
|
|
|
+ <inertial>
|
|
|
+ <mass value="0.01"/>
|
|
|
+ <origin xyz="0 0 0"/>
|
|
|
+ <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
|
|
|
+ </inertial>
|
|
|
+ </link>
|
|
|
+ <joint name="oakd_pro_imu_joint" type="fixed">
|
|
|
+ <parent link="oakd_pro_link"/>
|
|
|
+ <child link="oakd_pro_imu_frame"/>
|
|
|
+ <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
|
|
|
+ </joint>
|
|
|
+ <!-- Gazebo links and joints -->
|
|
|
+ <gazebo reference="oakd_pro_rgb_camera_frame">
|
|
|
+ <sensor name="rgbd_camera" type="rgbd_camera">
|
|
|
+ <camera>
|
|
|
+ <horizontal_fov>1.25</horizontal_fov>
|
|
|
+ <image>
|
|
|
+ <width>320</width>
|
|
|
+ <height>240</height>
|
|
|
+ </image>
|
|
|
+ <clip>
|
|
|
+ <near>0.3</near>
|
|
|
+ <far>100</far>
|
|
|
+ </clip>
|
|
|
+ </camera>
|
|
|
+ <always_on>1</always_on>
|
|
|
+ <update_rate>30</update_rate>
|
|
|
+ <visualize>true</visualize>
|
|
|
+ </sensor>
|
|
|
+ <visual>
|
|
|
+ <material>
|
|
|
+ <diffuse>0.011764705882352941 0.011764705882352941 0.011764705882352941 1</diffuse>
|
|
|
+ <specular>0 0 0 1</specular>
|
|
|
+ <emissive>0 0 0 1</emissive>
|
|
|
+ </material>
|
|
|
+ </visual>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="oakd_pro_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="oakd_pro_rgb_camera_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="oakd_pro_rgb_camera_optical_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="oakd_pro_left_camera_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="oakd_pro_left_camera_optical_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="oakd_pro_right_camera_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="oakd_pro_right_camera_optical_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+ <gazebo reference="oakd_pro_imu_joint">
|
|
|
+ <preserveFixedJoint>true</preserveFixedJoint>
|
|
|
+ </gazebo>
|
|
|
+</robot>
|
Adam Dabrowski