feat: add LMS web client
This commit is contained in:
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+14
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material checker
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{
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technique
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{
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pass
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{
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texture_unit
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{
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texture checker.png
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}
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}
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}
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}
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<?xml version="1.0"?>
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<model>
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<name>checker</name>
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<version>1.0</version>
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<sdf version='1.6'>model.sdf</sdf>
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<author>
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<name>Gilbert</name>
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<email>kkjong@robotis.com</email>
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</author>
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<description>
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Model with links of simple shapes and texture applied.
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</description>
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</model>
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@@ -0,0 +1,30 @@
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="checker">
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<static>true</static>
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<link name="box">
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<pose>0 0 0 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.02 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.02 1 1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://turtlebot3_autorace_2020/checker/materials/scripts</uri>
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<uri>model://turtlebot3_autorace_2020/checker/materials/textures</uri>
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<name>checker</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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+14
@@ -0,0 +1,14 @@
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material course
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{
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technique
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{
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pass
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{
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texture_unit
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{
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texture course.png
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}
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}
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}
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}
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<?xml version="1.0"?>
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<model>
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<name>course</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name>Gilbert</name>
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<email>kkjong@robotis.com</email>
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</author>
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<description>
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A simple textured ground plane
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</description>
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</model>
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@@ -0,0 +1,41 @@
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="course">
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<static>true</static>
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<link name="course_link">
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<collision name="course_collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>4 4</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="course_visual">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>4 4</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>model://turtlebot3_autorace_2020/course/materials/scripts</uri>
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<uri>model://turtlebot3_autorace_2020/course/materials/textures</uri>
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<name>course</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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+14
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material traffic_bar
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{
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technique
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{
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pass
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{
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texture_unit
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{
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texture traffic_bar.png
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}
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}
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}
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}
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+18
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<?xml version="1.0"?>
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<model>
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<name>traffic_bar</name>
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<version>1.0</version>
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<sdf version='1.6'>model.sdf</sdf>
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<author>
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<name>Hyunok Lee</name>
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<email>hyunokhyunok@naver.com</email>
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<name>Hyungyu Kim</name>
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<email>kimhg@robotis.com</email>
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</author>
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<description>
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Model with links of simple shapes and texture applied.
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</description>
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</model>
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+32
@@ -0,0 +1,32 @@
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<?xml version='1.0'?>
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<sdf version="1.6">
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<model name="traffic_bar">
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<static>false</static>
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<link name="traffic_bar">
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<pose> 0 0 0 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.3 0.02 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.3 0.02 0.05</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://turtlebot3_autorace_2020/traffic_bar/materials/scripts</uri>
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<uri>model://turtlebot3_autorace_2020/traffic_bar/materials/textures</uri>
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<name>traffic_bar</name>
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</script>
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</material>
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</visual>
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</link>
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<plugin name="traffic_bar_plugin" filename="libtraffic_bar_plugin.so">
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</plugin>
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</model>
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</sdf>
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+14
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material traffic_construction
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{
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technique
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{
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pass
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{
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texture_unit
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{
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texture traffic_construction.png
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}
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}
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}
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}
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+16
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<?xml version="1.0"?>
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<model>
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<name>traffic_construction</name>
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<version>1.0</version>
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<sdf version='1.6'>model.sdf</sdf>
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<author>
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<name>Hyunok Lee</name>
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<email>hyunokhyunok@naver.com</email>
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</author>
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|
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<description>
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Model with links of simple shapes and texture applied.
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</description>
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</model>
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+30
@@ -0,0 +1,30 @@
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="traffic_construction">
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<static>true</static>
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<link name="box">
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<pose>0 0 0 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.12 0.025 0.25</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
|
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<box>
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<size>0.12 0.025 0.25</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://turtlebot3_autorace_2020/traffic_construction/materials/scripts</uri>
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<uri>model://turtlebot3_autorace_2020/traffic_construction/materials/textures</uri>
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<name>traffic_construction</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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+14
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material traffic_intersection
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{
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technique
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{
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pass
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{
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||||
texture_unit
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||||
{
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texture traffic_intersection.png
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}
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}
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}
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}
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BIN
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+16
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<?xml version="1.0"?>
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<model>
|
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<name>traffic_intersection</name>
|
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<version>1.0</version>
|
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<sdf version='1.6'>model.sdf</sdf>
|
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|
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<author>
|
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<name>Hyunok Lee</name>
|
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<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
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Model with links of simple shapes and texture applied.
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</description>
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</model>
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+30
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<?xml version="1.0" ?>
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<sdf version="1.6">
|
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<model name="traffic_intersection">
|
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<static>true</static>
|
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<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
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||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_intersection/materials/scripts</uri>
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||||
<uri>model://turtlebot3_autorace_2020/traffic_intersection/materials/textures</uri>
|
||||
<name>traffic_intersection</name>
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||||
</script>
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||||
</material>
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||||
</visual>
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||||
</link>
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||||
</model>
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||||
</sdf>
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+14
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material traffic_left
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||||
{
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||||
technique
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||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_left.png
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||||
}
|
||||
}
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||||
}
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||||
}
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||||
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||||
BIN
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+16
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||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_left</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
+30
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|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_left">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>1.08 -0.838 0.125 0 -0 -1.57</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_left/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_left/materials/textures</uri>
|
||||
<name>traffic_left</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+41
@@ -0,0 +1,41 @@
|
||||
material traffic_light_red
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_light_red.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
material traffic_light_green
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_light_green.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
material traffic_light_yellow
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_light_yellow.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
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After Width: | Height: | Size: 3.8 KiB |
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After Width: | Height: | Size: 5.0 KiB |
+13
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|
||||
<?xml version="1.0" ?>
|
||||
<model>
|
||||
<name>traffic_light</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
<author>
|
||||
<name>Ashekim</name>
|
||||
<email>ashekim@robotis.com</email>
|
||||
<name>Hyungyu Kim</name>
|
||||
<email>kimhg@robotis.com</email>
|
||||
</author>
|
||||
<description>The traffic light.</description>
|
||||
</model>
|
||||
+32
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|
||||
<?xml version='1.0'?>
|
||||
<sdf version='1.6'>
|
||||
<model name='traffic_light'>
|
||||
<link name='traffic_light'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_light/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_light/materials/textures</uri>
|
||||
<name>traffic_light_red</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<plugin name="traffic_light_plugin" filename="libtraffic_light_plugin.so">
|
||||
</plugin>
|
||||
<static>1</static>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_noentry
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_noentry.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
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+16
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|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_noentry</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
+30
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_noentry">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_noentry/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_noentry/materials/textures</uri>
|
||||
<name>traffic_noentry</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_parking
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_parking.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 44 KiB |
+16
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_parking</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
+30
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_parking">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_parking/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_parking/materials/textures</uri>
|
||||
<name>traffic_parking</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_pl_left
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_pl_left.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 51 KiB |
+16
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_pl_left</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
+30
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_pl_left">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_pl_left/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_pl_left/materials/textures</uri>
|
||||
<name>traffic_pl_left</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_right
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_right.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 47 KiB |
+16
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_right</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
+30
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_right">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_right/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_right/materials/textures</uri>
|
||||
<name>traffic_right</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_stop
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture traffic_stop.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 48 KiB |
+16
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_stop</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Gilbert</name>
|
||||
<email>kkjong@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
+30
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_stop">
|
||||
<static>true</static>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_stop/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_stop/materials/textures</uri>
|
||||
<name>traffic_stop</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
+14
@@ -0,0 +1,14 @@
|
||||
material traffic_tunnel
|
||||
{
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture tunnel.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 61 KiB |
+16
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>traffic_tunnel</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.6'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Hyunok Lee</name>
|
||||
<email>hyunokhyunok@naver.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Model with links of simple shapes and texture applied.
|
||||
</description>
|
||||
</model>
|
||||
+30
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="traffic_tunnel">
|
||||
<pose>0 0 0.125 0 0 0</pose>
|
||||
<link name="box">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.025 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_tunnel/materials/scripts</uri>
|
||||
<uri>model://turtlebot3_autorace_2020/traffic_tunnel/materials/textures</uri>
|
||||
<name>traffic_tunnel</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,408 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="turtlebot3_burger">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>7.2397393e-01</ixx>
|
||||
<ixy>4.686399e-10</ixy>
|
||||
<ixz>-1.09525703e-08</ixz>
|
||||
<iyy>7.2397393e-01</iyy>
|
||||
<iyz>2.8582649e-09</iyz>
|
||||
<izz>6.53050163e-01</izz>
|
||||
</inertia>
|
||||
<mass>8.2573504e-01</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.140 0.140 0.140</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.032 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/burger_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.114</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0 0.08 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="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_right_collision">
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<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 -0.08 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_link'>
|
||||
<pose>-0.081 0 -0.004 -1.57 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.005</mass>
|
||||
<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>
|
||||
</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 0.08 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 -0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.032 0 0.171 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> -->
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.160</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>TurtleBot3(Burger)</name>
|
||||
<version>2.0</version>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Taehun Lim(Darby)</name>
|
||||
<email>thlim@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
TurtleBot3 Burger
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,424 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="turtlebot3_burger">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>7.2397393e-01</ixx>
|
||||
<ixy>4.686399e-10</ixy>
|
||||
<ixz>-1.09525703e-08</ixz>
|
||||
<iyy>7.2397393e-01</iyy>
|
||||
<iyz>2.8582649e-09</iyz>
|
||||
<izz>6.53050163e-01</izz>
|
||||
</inertia>
|
||||
<mass>8.2573504e-01</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.140 0.140 0.140</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.032 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.3 0.3 0.3 1.0</ambient>
|
||||
<diffuse>0.3 0.3 0.3 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.114</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0 0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_right_collision">
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<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 -0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_link'>
|
||||
<pose>-0.081 0 -0.004 -1.57 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.005</mass>
|
||||
<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>
|
||||
</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 0.08 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 -0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.032 0 0.171 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> -->
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.160</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,408 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="turtlebot3_burger">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>7.2397393e-01</ixx>
|
||||
<ixy>4.686399e-10</ixy>
|
||||
<ixz>-1.09525703e-08</ixz>
|
||||
<iyy>7.2397393e-01</iyy>
|
||||
<iyz>2.8582649e-09</iyz>
|
||||
<izz>6.53050163e-01</izz>
|
||||
</inertia>
|
||||
<mass>8.2573504e-01</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.140 0.140 0.140</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.032 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/burger_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.114</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0 0.08 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="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_right_collision">
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<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 -0.08 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_link'>
|
||||
<pose>-0.081 0 -0.004 -1.57 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.005</mass>
|
||||
<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>
|
||||
</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 0.08 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 -0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.032 0 0.171 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> -->
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.160</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,19 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>TurtleBot3(Burger_cam)</name>
|
||||
<version>2.0</version>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Taehun Lim(Darby)</name>
|
||||
<name>Hyungyu Kim</name>
|
||||
<email>thlim@robotis.com</email>
|
||||
<email>kimhg@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
TurtleBot3 Burger
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,495 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="turtlebot3_burger_cam">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>7.2397393e-01</ixx>
|
||||
<ixy>4.686399e-10</ixy>
|
||||
<ixz>-1.09525703e-08</ixz>
|
||||
<iyy>7.2397393e-01</iyy>
|
||||
<iyz>2.8582649e-09</iyz>
|
||||
<izz>6.53050163e-01</izz>
|
||||
</inertia>
|
||||
<mass>8.2573504e-01</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.140 0.140 0.140</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.032 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.3 0.3 0.3 1.0</ambient>
|
||||
<diffuse>0.3 0.3 0.3 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.114</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>false</visualize>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0 0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_right_collision">
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<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 -0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_link'>
|
||||
<pose>-0.081 0 -0.004 -1.57 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.005</mass>
|
||||
<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>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="camera_link">
|
||||
<inertial>
|
||||
<pose>0.076 0.0 0.093 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.035</mass>
|
||||
</inertial>
|
||||
|
||||
<pose>0.076 0.0 0.093 0 0 0</pose>
|
||||
<sensor name="camera" type="wideanglecamera">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>30</update_rate>
|
||||
<camera name="picam">
|
||||
<horizontal_fov>3.183</horizontal_fov>
|
||||
<image>
|
||||
<width>320</width>
|
||||
<height>240</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.03</near>
|
||||
<far>100</far>
|
||||
</clip>
|
||||
<lens>
|
||||
<type>custom</type>
|
||||
<custom_function>
|
||||
<c1>1.05</c1>
|
||||
<c2>4</c2>
|
||||
<f>1.0</f>
|
||||
<fun>tan</fun>
|
||||
</custom_function>
|
||||
<scale_to_hfov>true</scale_to_hfov>
|
||||
<cutoff_angle>3.1415</cutoff_angle>
|
||||
<env_texture_size>512</env_texture_size>
|
||||
</lens>
|
||||
</camera>
|
||||
<plugin name="camera_driver" filename="libgazebo_ros_camera.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>30.0</updateRate>
|
||||
<cameraName>camera</cameraName>
|
||||
<frameName>camera_link</frameName>
|
||||
<imageTopicName>image_raw</imageTopicName>
|
||||
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
|
||||
<hackBaseline>0.07</hackBaseline>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
<ros>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent>base_footprint</parent>
|
||||
<child>base_link</child>
|
||||
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_left_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_left_link</child>
|
||||
<pose>0.0 0.08 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 -0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>camera_link</child>
|
||||
<pose>0.040 -0.000 0.110 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> -->
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.160</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
BIN
Binary file not shown.
BIN
Binary file not shown.
BIN
Binary file not shown.
@@ -0,0 +1,220 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author>Blender User</author>
|
||||
<authoring_tool>Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771</authoring_tool>
|
||||
</contributor>
|
||||
<created>2020-06-29T17:10:17</created>
|
||||
<modified>2020-06-29T17:10:17</modified>
|
||||
<unit name="meter" meter="1"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_cameras>
|
||||
<camera id="Camera-camera" name="Camera">
|
||||
<optics>
|
||||
<technique_common>
|
||||
<perspective>
|
||||
<xfov sid="xfov">39.59775</xfov>
|
||||
<aspect_ratio>1.777778</aspect_ratio>
|
||||
<znear sid="znear">0.1</znear>
|
||||
<zfar sid="zfar">100</zfar>
|
||||
</perspective>
|
||||
</technique_common>
|
||||
</optics>
|
||||
<extra>
|
||||
<technique profile="blender">
|
||||
<shiftx sid="shiftx" type="float">0</shiftx>
|
||||
<shifty sid="shifty" type="float">0</shifty>
|
||||
<dof_distance sid="dof_distance" type="float">10</dof_distance>
|
||||
</technique>
|
||||
</extra>
|
||||
</camera>
|
||||
</library_cameras>
|
||||
<library_lights>
|
||||
<light id="Light-light" name="Light">
|
||||
<technique_common>
|
||||
<point>
|
||||
<color sid="color">1000 1000 1000</color>
|
||||
<constant_attenuation>1</constant_attenuation>
|
||||
<linear_attenuation>0</linear_attenuation>
|
||||
<quadratic_attenuation>0.00111109</quadratic_attenuation>
|
||||
</point>
|
||||
</technique_common>
|
||||
<extra>
|
||||
<technique profile="blender">
|
||||
<type sid="type" type="int">0</type>
|
||||
<flag sid="flag" type="int">0</flag>
|
||||
<mode sid="mode" type="int">1</mode>
|
||||
<gamma sid="blender_gamma" type="float">1</gamma>
|
||||
<red sid="red" type="float">1</red>
|
||||
<green sid="green" type="float">1</green>
|
||||
<blue sid="blue" type="float">1</blue>
|
||||
<shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
|
||||
<shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
|
||||
<shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
|
||||
<energy sid="blender_energy" type="float">1000</energy>
|
||||
<dist sid="blender_dist" type="float">29.99998</dist>
|
||||
<spotsize sid="spotsize" type="float">75</spotsize>
|
||||
<spotblend sid="spotblend" type="float">0.15</spotblend>
|
||||
<att1 sid="att1" type="float">0</att1>
|
||||
<att2 sid="att2" type="float">1</att2>
|
||||
<falloff_type sid="falloff_type" type="int">2</falloff_type>
|
||||
<clipsta sid="clipsta" type="float">0.04999995</clipsta>
|
||||
<clipend sid="clipend" type="float">30.002</clipend>
|
||||
<bias sid="bias" type="float">1</bias>
|
||||
<soft sid="soft" type="float">3</soft>
|
||||
<bufsize sid="bufsize" type="int">2880</bufsize>
|
||||
<samp sid="samp" type="int">3</samp>
|
||||
<buffers sid="buffers" type="int">1</buffers>
|
||||
<area_shape sid="area_shape" type="int">1</area_shape>
|
||||
<area_size sid="area_size" type="float">0.1</area_size>
|
||||
<area_sizey sid="area_sizey" type="float">0.1</area_sizey>
|
||||
<area_sizez sid="area_sizez" type="float">1</area_sizez>
|
||||
</technique>
|
||||
</extra>
|
||||
</light>
|
||||
</library_lights>
|
||||
<library_effects>
|
||||
<effect id="Material-effect">
|
||||
<profile_COMMON>
|
||||
<technique sid="common">
|
||||
<lambert>
|
||||
<emission>
|
||||
<color sid="emission">0 0 0 1</color>
|
||||
</emission>
|
||||
<diffuse>
|
||||
<color sid="diffuse">0.8 0.8 0.8 1</color>
|
||||
</diffuse>
|
||||
<index_of_refraction>
|
||||
<float sid="ior">1.45</float>
|
||||
</index_of_refraction>
|
||||
</lambert>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<library_images/>
|
||||
<library_materials>
|
||||
<material id="Material-material" name="Material">
|
||||
<instance_effect url="#Material-effect"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_geometries>
|
||||
<geometry id="Cube_001-mesh" name="Cube.001">
|
||||
<mesh>
|
||||
<source id="Cube_001-mesh-positions">
|
||||
<float_array id="Cube_001-mesh-positions-array" count="48">-0.5664003 -1 -1 -1 -0.5664004 -1 -1 -0.5664003 1.061318 -0.5664004 -1 1.061318 -1 0.5664003 -1 -0.5664004 1 -1 -0.5664003 1 1.061318 -1 0.5664004 1.061318 1 -0.5664003 -1 0.5664004 -1 -1 0.5664003 -1 1.061318 1 -0.5664004 1.061318 0.5664003 1 -1 1 0.5664004 -1 1 0.5664003 1.061318 0.5664004 1 1.061318</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube_001-mesh-positions-array" count="16" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube_001-mesh-normals">
|
||||
<float_array id="Cube_001-mesh-normals-array" count="60">0 -1 0 1 0 0 0 0 1 -1 0 0 0 1 0 -0.7071068 -0.7071068 0 -0.7071068 0.7071068 0 0.7071068 0.7071068 0 0.7071068 -0.7071068 0 0 0 -1 0 -1 0 0 0 1 0 0 1 0 1 0 -0.7071068 -0.7071068 0 -0.7071068 0.7071068 0 0.7071068 0.7071068 0 0.7071068 -0.7071068 0 0 0 -1 0 0 -1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube_001-mesh-normals-array" count="20" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube_001-mesh-map-0">
|
||||
<float_array id="Cube_001-mesh-map-0-array" count="168">0.625 0.8041999 0.375 0.9458001 0.375 0.8041999 0.625 0.5541999 0.375 0.6958 0.375 0.5541999 0.8208 0.75 0.6792 0.75 0.625 0.6958 0.625 0.05419993 0.375 0.1958 0.375 0.05419993 0.625 0.3041999 0.375 0.4458 0.375 0.3041999 0.625 0.9458001 0.375 1 0.375 0.9458001 0.375 0.3041999 0.625 0.1958 0.625 0.3041999 0.375 0.5541999 0.625 0.4458 0.625 0.5541999 0.375 0.8041999 0.625 0.6958 0.625 0.8041999 0.3208 0.75 0.1791999 0.75 0.125 0.6958 0.625 0.8041999 0.625 0.9458001 0.375 0.9458001 0.625 0.5541999 0.625 0.6958 0.375 0.6958 0.625 0.6958 0.625 0.5541999 0.875 0.5541999 0.625 0.5541999 0.6791999 0.5 0.875 0.5541999 0.6791999 0.5 0.8208 0.5 0.875 0.5541999 0.875 0.5541999 0.875 0.6958 0.625 0.6958 0.875 0.6958 0.8208 0.75 0.625 0.6958 0.625 0.05419993 0.625 0.1958 0.375 0.1958 0.625 0.3041999 0.625 0.4458 0.375 0.4458 0.625 0.9458001 0.625 1 0.375 1 0.375 0.3041999 0.375 0.1958 0.625 0.1958 0.375 0.5541999 0.375 0.4458 0.625 0.4458 0.375 0.8041999 0.375 0.6958 0.625 0.6958 0.125 0.6958 0.125 0.5541999 0.375 0.5541999 0.125 0.5541999 0.1791999 0.5 0.375 0.5541999 0.1791999 0.5 0.3208 0.5 0.375 0.5541999 0.375 0.5541999 0.375 0.6958 0.125 0.6958 0.375 0.6958 0.3208 0.75 0.125 0.6958</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube_001-mesh-map-0-array" count="84" stride="2">
|
||||
<param name="S" type="float"/>
|
||||
<param name="T" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="Cube_001-mesh-vertices">
|
||||
<input semantic="POSITION" source="#Cube_001-mesh-positions"/>
|
||||
</vertices>
|
||||
<triangles count="28">
|
||||
<input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
|
||||
<input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
|
||||
<p>10 0 0 0 0 1 9 0 2 14 1 3 8 1 4 13 1 5 3 2 6 10 2 7 11 2 8 2 3 9 4 3 10 1 3 11 6 4 12 12 4 13 5 4 14 3 5 15 1 5 16 0 5 17 5 6 18 7 6 19 6 6 20 13 7 21 15 7 22 14 7 23 9 8 24 11 8 25 10 8 26 9 9 27 0 9 28 1 9 29 10 10 30 3 10 31 0 10 32 14 1 33 11 1 34 8 1 35 11 11 36 14 11 37 7 11 38 14 2 39 15 2 40 7 2 41 15 2 42 6 2 43 7 2 44 7 12 45 2 12 46 11 12 47 2 2 48 3 2 49 11 2 50 2 3 51 7 3 52 4 3 53 6 13 54 15 13 55 12 13 56 3 14 57 2 14 58 1 14 59 5 15 60 4 15 61 7 15 62 13 16 63 12 16 64 15 16 65 9 17 66 8 17 67 11 17 68 1 18 69 4 18 70 13 18 71 4 9 72 5 9 73 13 9 74 5 9 75 12 9 76 13 9 77 13 19 78 8 19 79 1 19 80 8 9 81 9 9 82 1 9 83</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<geometry id="Cube-mesh" name="Cube">
|
||||
<mesh>
|
||||
<source id="Cube-mesh-positions">
|
||||
<float_array id="Cube-mesh-positions-array" count="24">1 1 1 1 1 -1 1 -1 1 1 -1 -1 -1 1 1 -1 1 -1 -1 -1 1 -1 -1 -1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube-mesh-normals">
|
||||
<float_array id="Cube-mesh-normals-array" count="18">0 0 1 0 -1 0 -1 0 0 0 0 -1 1 0 0 0 1 0</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-normals-array" count="6" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube-mesh-map-0">
|
||||
<float_array id="Cube-mesh-map-0-array" count="72">0.875 0.5 0.625 0.75 0.625 0.5 0.625 0.75 0.375 1 0.375 0.75 0.625 0 0.375 0.25 0.375 0 0.375 0.5 0.125 0.75 0.125 0.5 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.25 0.375 0.5 0.375 0.25 0.875 0.5 0.875 0.75 0.625 0.75 0.625 0.75 0.625 1 0.375 1 0.625 0 0.625 0.25 0.375 0.25 0.375 0.5 0.375 0.75 0.125 0.75 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.25 0.625 0.5 0.375 0.5</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
|
||||
<param name="S" type="float"/>
|
||||
<param name="T" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="Cube-mesh-vertices">
|
||||
<input semantic="POSITION" source="#Cube-mesh-positions"/>
|
||||
</vertices>
|
||||
<triangles material="Material-material" count="12">
|
||||
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
|
||||
<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
|
||||
<p>4 0 0 2 0 1 0 0 2 2 1 3 7 1 4 3 1 5 6 2 6 5 2 7 7 2 8 1 3 9 7 3 10 5 3 11 0 4 12 3 4 13 1 4 14 4 5 15 1 5 16 5 5 17 4 0 18 6 0 19 2 0 20 2 1 21 6 1 22 7 1 23 6 2 24 4 2 25 5 2 26 1 3 27 3 3 28 7 3 29 0 4 30 2 4 31 3 4 32 4 5 33 0 5 34 1 5 35</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="Scene" name="Scene">
|
||||
<node id="Cube_001" name="Cube.001" type="NODE">
|
||||
<matrix sid="transform">68.44905 0 0 0 0 68.44905 0 0 0 0 68.44905 68.59841 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube_001-mesh" name="Cube.001"/>
|
||||
</node>
|
||||
<node id="Camera" name="Camera" type="NODE">
|
||||
<matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
|
||||
<instance_camera url="#Camera-camera"/>
|
||||
</node>
|
||||
<node id="Light" name="Light" type="NODE">
|
||||
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File diff suppressed because one or more lines are too long
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BIN
Binary file not shown.
BIN
Binary file not shown.
@@ -0,0 +1,15 @@
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||||
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|
||||
TurtleBot3 DQN World Inner Walls
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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</geometry>
|
||||
<pose frame=''>0 0 0.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='inner_wall_6_visual'>
|
||||
<pose frame=''>0 0 0.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
</visual>
|
||||
<pose frame=''>-0.5 1.5 0 0 -0 0</pose>
|
||||
</link>
|
||||
<link name='inner_wall_7'>
|
||||
<collision name='inner_wall_7_collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>0 0 0.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='inner_wall_7_visual'>
|
||||
<pose frame=''>0 0 0.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>1 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
</visual>
|
||||
<pose frame=''>-1.2 0.092 0 0 0 -1.5708</pose>
|
||||
</link>
|
||||
<static>1</static>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,15 @@
|
||||
<?xml version="1.0" ?>
|
||||
<model>
|
||||
<name>turtlebot3_dqn</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Ryan Shim</name>
|
||||
<email>jhshim@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
TurtleBot3 DQN World
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,111 @@
|
||||
<?xml version='1.0'?>
|
||||
<sdf version='1.6'>
|
||||
<model name='turtlebot3_square'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<link name='Wall_1'>
|
||||
<collision name='Wall_1_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>0 0 0.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='Wall_1_Visual'>
|
||||
<pose frame=''>0 0 0.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
</visual>
|
||||
<pose frame=''>-2.425 0 0 0 -0 1.5708</pose>
|
||||
</link>
|
||||
<link name='Wall_2'>
|
||||
<collision name='Wall_2_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>0 0 0.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='Wall_2_Visual'>
|
||||
<pose frame=''>0 0 0.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
</visual>
|
||||
<pose frame=''>0 2.425 0 0 -0 0</pose>
|
||||
</link>
|
||||
<link name='Wall_3'>
|
||||
<collision name='Wall_3_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>0 0 0.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='Wall_3_Visual'>
|
||||
<pose frame=''>0 0 0.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
</visual>
|
||||
<pose frame=''>2.425 0 0 0 0 -1.5708</pose>
|
||||
</link>
|
||||
<link name='Wall_4'>
|
||||
<collision name='Wall_4_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>0 0 0.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='Wall_4_Visual'>
|
||||
<pose frame=''>0 0 0.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>5 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Wood</name>
|
||||
</script>
|
||||
<ambient>1 1 1 1</ambient>
|
||||
</material>
|
||||
</visual>
|
||||
<pose frame=''>0 -2.425 0 0 -0 3.14159</pose>
|
||||
</link>
|
||||
<static>1</static>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,15 @@
|
||||
<?xml version="1.0" ?>
|
||||
<model>
|
||||
<name>obstacle1</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Ryan Shim</name>
|
||||
<email>jhshim@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
TurtleBot3 DQN World
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,24 @@
|
||||
<?xml version='1.0'?>
|
||||
<sdf version='1.6'>
|
||||
<model name="obstacle1">
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.12</radius>
|
||||
<length>0.25</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.12</radius>
|
||||
<length>0.25</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,15 @@
|
||||
<?xml version="1.0" ?>
|
||||
<model>
|
||||
<name>obstacle2</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Ryan Shim</name>
|
||||
<email>jhshim@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
TurtleBot3 DQN World
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,24 @@
|
||||
<?xml version='1.0'?>
|
||||
<sdf version='1.6'>
|
||||
<model name="obstacle2">
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.12</radius>
|
||||
<length>0.25</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.12</radius>
|
||||
<length>0.25</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,15 @@
|
||||
<?xml version="1.0" ?>
|
||||
<model>
|
||||
<name>obstacles</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Ryan Shim</name>
|
||||
<email>jhshim@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
TurtleBot3 DQN World
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,153 @@
|
||||
<?xml version='1.0'?>
|
||||
<sdf version='1.6'>
|
||||
<model name='obstacles'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<link name='obstacle'>
|
||||
<collision name='obstacle_1'>
|
||||
<pose>-1.0 -1.0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='obstacle_1'>
|
||||
<pose>-1.0 -1.0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='obstacle_2'>
|
||||
<pose>-1.0 1.0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='obstacle_2'>
|
||||
<pose>-1.0 1.0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='obstacle_3'>
|
||||
<pose>1.0 -1.0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='obstacle_3'>
|
||||
<pose>1.0 -1.0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='obstacle_4'>
|
||||
<pose>1.0 1.0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='obstacle_4'>
|
||||
<pose>1.0 1.0 0.25 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.15</radius>
|
||||
<length>0.5</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/White</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<static>1</static>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Turtlebot3 House</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Taehun Lim(Darby)</name>
|
||||
<email>thlim@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Turtlebot3 House
|
||||
</description>
|
||||
</model>
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,520 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="turtlebot3_waffle">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>4.2111447e-02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>4.2111447e-02</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>7.5254874e-02</izz>
|
||||
</inertia>
|
||||
<mass>1.3729096e+00</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.265 0.265 0.089</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.064 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/waffle_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.114</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.1175580e-05</ixx>
|
||||
<ixy>-4.2369783e-11</ixy>
|
||||
<ixz>-5.9381719e-09</ixz>
|
||||
<iyy>1.1192413e-05</iyy>
|
||||
<iyz>-1.4400107e-11</iyz>
|
||||
<izz>2.0712558e-05</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0.0 0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.1175580e-05</ixx>
|
||||
<ixy>-4.2369783e-11</ixy>
|
||||
<ixz>-5.9381719e-09</ixz>
|
||||
<iyy>1.1192413e-05</iyy>
|
||||
<iyz>-1.4400107e-11</iyz>
|
||||
<izz>2.0712558e-05</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 -1.57 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 -1.57 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.001</mass>
|
||||
<inertia>
|
||||
<ixx>0.00001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.00001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.00001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="camera_link"/>
|
||||
|
||||
<link name="camera_rgb_frame">
|
||||
<inertial>
|
||||
<pose>0.069 -0.047 0.107 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.035</mass>
|
||||
</inertial>
|
||||
|
||||
<pose>0.069 -0.047 0.107 0 0 0</pose>
|
||||
<sensor name="camera" type="camera">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>30</update_rate>
|
||||
<camera name="intel_realsense_r200">
|
||||
<horizontal_fov>1.02974</horizontal_fov>
|
||||
<image>
|
||||
<width>1920</width>
|
||||
<height>1080</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<!-- Noise is sampled independently per pixel on each frame.
|
||||
That pixel's noise value is added to each of its color
|
||||
channels, which at that point lie in the range [0,1]. -->
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<plugin name="camera_driver" filename="libgazebo_ros_camera.so">
|
||||
<ros>
|
||||
<!-- <namespace>test_cam</namespace> -->
|
||||
<!-- <remapping>image_raw:=image_demo</remapping> -->
|
||||
<!-- <remapping>camera_info:=camera_info_demo</remapping> -->
|
||||
</ros>
|
||||
<!-- camera_name>omit so it defaults to sensor name</camera_name-->
|
||||
<!-- frame_name>omit so it defaults to link name</frameName-->
|
||||
<!-- <hack_baseline>0.07</hack_baseline> -->
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent>base_footprint</parent>
|
||||
<child>base_link</child>
|
||||
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_left_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_left_link</child>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_right_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_right_link</child>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_right_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_right_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_left_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_left_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>camera_link</child>
|
||||
<pose>0.064 -0.065 0.094 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="camera_rgb_joint" type="fixed">
|
||||
<parent>camera_link</parent>
|
||||
<child>camera_rgb_frame</child>
|
||||
<pose>0.005 0.018 0.013 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.287</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>TurtleBot3(Waffle)</name>
|
||||
<version>2.0</version>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Taehun Lim(Darby)</name>
|
||||
<email>thlim@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
TurtleBot3 Waffle
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,536 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="turtlebot3_waffle">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>4.2111447e-02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>4.2111447e-02</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>7.5254874e-02</izz>
|
||||
</inertia>
|
||||
<mass>1.3729096e+00</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.265 0.265 0.089</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.064 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/bases/waffle_base.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.3 0.3 0.3 1.0</ambient>
|
||||
<diffuse>0.3 0.3 0.3 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.114</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.1175580e-05</ixx>
|
||||
<ixy>-4.2369783e-11</ixy>
|
||||
<ixz>-5.9381719e-09</ixz>
|
||||
<iyy>1.1192413e-05</iyy>
|
||||
<iyz>-1.4400107e-11</iyz>
|
||||
<izz>2.0712558e-05</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0.0 0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.1175580e-05</ixx>
|
||||
<ixy>-4.2369783e-11</ixy>
|
||||
<ixz>-5.9381719e-09</ixz>
|
||||
<iyy>1.1192413e-05</iyy>
|
||||
<iyz>-1.4400107e-11</iyz>
|
||||
<izz>2.0712558e-05</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/wheels/left_tire.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_right_link'>
|
||||
<pose>-0.177 -0.064 -0.004 -1.57 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 -1.57 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.001</mass>
|
||||
<inertia>
|
||||
<ixx>0.00001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.00001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.00001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="camera_link"/>
|
||||
|
||||
<link name="camera_rgb_frame">
|
||||
<inertial>
|
||||
<pose>0.069 -0.047 0.107 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.035</mass>
|
||||
</inertial>
|
||||
|
||||
<pose>0.069 -0.047 0.107 0 0 0</pose>
|
||||
<sensor name="camera" type="camera">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>30</update_rate>
|
||||
<camera name="intel_realsense_r200">
|
||||
<horizontal_fov>1.02974</horizontal_fov>
|
||||
<image>
|
||||
<width>1920</width>
|
||||
<height>1080</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<!-- Noise is sampled independently per pixel on each frame.
|
||||
That pixel's noise value is added to each of its color
|
||||
channels, which at that point lie in the range [0,1]. -->
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<plugin name="camera_driver" filename="libgazebo_ros_camera.so">
|
||||
<ros>
|
||||
<!-- <namespace>test_cam</namespace> -->
|
||||
<!-- <remapping>image_raw:=image_demo</remapping> -->
|
||||
<!-- <remapping>camera_info:=camera_info_demo</remapping> -->
|
||||
</ros>
|
||||
<!-- camera_name>omit so it defaults to sensor name</camera_name-->
|
||||
<!-- frame_name>omit so it defaults to link name</frameName-->
|
||||
<!-- <hack_baseline>0.07</hack_baseline> -->
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent>base_footprint</parent>
|
||||
<child>base_link</child>
|
||||
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_left_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_left_link</child>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_right_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_right_link</child>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_right_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_right_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_left_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_left_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>camera_link</child>
|
||||
<pose>0.064 -0.065 0.094 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="camera_rgb_joint" type="fixed">
|
||||
<parent>camera_link</parent>
|
||||
<child>camera_rgb_frame</child>
|
||||
<pose>0.005 0.018 0.013 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.287</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,520 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="turtlebot3_waffle_pi">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>4.2111447e-02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>4.2111447e-02</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>7.5254874e-02</izz>
|
||||
</inertia>
|
||||
<mass>1.3729096e+00</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.265 0.265 0.089</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.064 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/waffle_pi_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.114</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.1175580e-05</ixx>
|
||||
<ixy>-4.2369783e-11</ixy>
|
||||
<ixz>-5.9381719e-09</ixz>
|
||||
<iyy>1.1192413e-05</iyy>
|
||||
<iyz>-1.4400107e-11</iyz>
|
||||
<izz>2.0712558e-05</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0.0 0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.1175580e-05</ixx>
|
||||
<ixy>-4.2369783e-11</ixy>
|
||||
<ixz>-5.9381719e-09</ixz>
|
||||
<iyy>1.1192413e-05</iyy>
|
||||
<iyz>-1.4400107e-11</iyz>
|
||||
<izz>2.0712558e-05</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 -1.57 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 -1.57 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.001</mass>
|
||||
<inertia>
|
||||
<ixx>0.00001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.00001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.00001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="camera_link"/>
|
||||
|
||||
<link name="camera_rgb_frame">
|
||||
<inertial>
|
||||
<pose>0.076 0.0 0.093 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.035</mass>
|
||||
</inertial>
|
||||
|
||||
<pose>0.076 0.0 0.093 0 0 0</pose>
|
||||
<sensor name="camera" type="camera">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>30</update_rate>
|
||||
<camera name="picam">
|
||||
<horizontal_fov>1.085595</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.03</near>
|
||||
<far>100</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<!-- Noise is sampled independently per pixel on each frame.
|
||||
That pixel's noise value is added to each of its color
|
||||
channels, which at that point lie in the range [0,1]. -->
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<plugin name="camera_driver" filename="libgazebo_ros_camera.so">
|
||||
<ros>
|
||||
<!-- <namespace>test_cam</namespace> -->
|
||||
<!-- <remapping>image_raw:=image_demo</remapping> -->
|
||||
<!-- <remapping>camera_info:=camera_info_demo</remapping> -->
|
||||
</ros>
|
||||
<!-- camera_name>omit so it defaults to sensor name</camera_name-->
|
||||
<!-- frame_name>omit so it defaults to link name</frameName-->
|
||||
<!-- <hack_baseline>0.07</hack_baseline> -->
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent>base_footprint</parent>
|
||||
<child>base_link</child>
|
||||
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_left_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_left_link</child>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_right_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_right_link</child>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_right_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_right_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_left_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_left_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>camera_link</child>
|
||||
<pose>0.073 -0.011 0.084 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="camera_rgb_joint" type="fixed">
|
||||
<parent>camera_link</parent>
|
||||
<child>camera_rgb_frame</child>
|
||||
<pose>0.003 0.011 0.009 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> -->
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.287</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>TurtleBot3(Waffle Pi)</name>
|
||||
<version>2.0</version>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Taehun Lim(Darby)</name>
|
||||
<email>thlim@robotis.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
TurtleBot3 Waffle Pi
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,536 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="turtlebot3_waffle_pi">
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<link name="base_link">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>4.2111447e-02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>4.2111447e-02</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>7.5254874e-02</izz>
|
||||
</inertia>
|
||||
<mass>1.3729096e+00</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.265 0.265 0.089</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.064 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/bases/waffle_pi_base.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.3 0.3 0.3 1.0</ambient>
|
||||
<diffuse>0.3 0.3 0.3 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="imu_link">
|
||||
<sensor name="tb3_imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="base_scan">
|
||||
<inertial>
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.114</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>base_scan</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="wheel_left_collision">
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000</mu>
|
||||
<mu2>100000</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0.0</slip1>
|
||||
<slip2>0.0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="wheel_left_visual">
|
||||
<pose>0.0 0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>1.8158194e-03</ixx>
|
||||
<ixy>-9.3392e-12</ixy>
|
||||
<ixz>1.04909e-11</ixz>
|
||||
<iyy>3.2922126e-03</iyy>
|
||||
<iyz>5.75694e-11</iyz>
|
||||
<izz>1.8158194e-03</izz>
|
||||
</inertia>
|
||||
<mass>2.8498940e-02</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</mu>
|
||||
<mu2>100000</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/wheels/left_tire.stl</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name='caster_back_right_link'>
|
||||
<pose>-0.177 -0.064 -0.004 -1.57 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 -1.57 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.001</mass>
|
||||
<inertia>
|
||||
<ixx>0.00001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.00001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.00001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="camera_link"/>
|
||||
|
||||
<link name="camera_rgb_optical_frame">
|
||||
<inertial>
|
||||
<pose>0.076 0.0 0.093 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.035</mass>
|
||||
</inertial>
|
||||
|
||||
<pose>0.076 0.0 0.093 0 0 0</pose>
|
||||
<sensor name="camera" type="camera">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>30</update_rate>
|
||||
<camera name="picam">
|
||||
<horizontal_fov>1.085595</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.03</near>
|
||||
<far>100</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<!-- Noise is sampled independently per pixel on each frame.
|
||||
That pixel's noise value is added to each of its color
|
||||
channels, which at that point lie in the range [0,1]. -->
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<plugin name="camera_driver" filename="libgazebo_ros_camera.so">
|
||||
<ros>
|
||||
<!-- <namespace>test_cam</namespace> -->
|
||||
<!-- <remapping>image_raw:=image_demo</remapping> -->
|
||||
<!-- <remapping>camera_info:=camera_info_demo</remapping> -->
|
||||
</ros>
|
||||
<!-- camera_name>omit so it defaults to sensor name</camera_name-->
|
||||
<!-- frame_name>omit so it defaults to link name</frameName-->
|
||||
<!-- <hack_baseline>0.07</hack_baseline> -->
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent>base_footprint</parent>
|
||||
<child>base_link</child>
|
||||
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_left_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_left_link</child>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="wheel_right_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>wheel_right_link</child>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_right_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_right_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name='caster_back_left_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_left_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>camera_link</child>
|
||||
<pose>0.073 -0.011 0.084 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="camera_rgb_joint" type="fixed">
|
||||
<parent>camera_link</parent>
|
||||
<child>camera_rgb_optical_frame</child>
|
||||
<pose>0.003 0.011 0.009 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> -->
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.287</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<remapping>~/out:=joint_states</remapping>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,76 @@
|
||||
<COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
|
||||
<asset>
|
||||
<created>2017-03-30T01:06:40</created>
|
||||
<modified>2017-03-30T01:06:40</modified>
|
||||
<unit name="inch" meter="0.0254"/>
|
||||
<up_axis>Y_UP</up_axis>
|
||||
</asset>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="ID1">
|
||||
<node>
|
||||
<instance_geometry url="#ID2">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Material0" target="#ID9"/>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<library_geometries>
|
||||
<geometry id="ID2">
|
||||
<mesh>
|
||||
<source id="ID3">
|
||||
<float_array id="ID4" count="108">-28.8675 50 100 -57.735 9.66338e-13 0 -57.735 1.13687e-12 100 -28.8675 50 0 -57.735 1.13687e-12 100 -28.8675 -50 0 -28.8675 -50 100 -57.735 9.66338e-13 0 -28.8675 -50 100 28.8675 -50 0 28.8675 -50 100 -28.8675 -50 0 28.8675 -50 100 57.735 1.7053e-12 0 57.735 1.36424e-12 100 28.8675 -50 0 57.735 1.36424e-12 100 28.8675 50 2.498e-13 28.8675 50 100 57.735 1.7053e-12 0 28.8675 50 100 -28.8675 50 0 -28.8675 50 100 28.8675 50 2.498e-13 -57.735 1.13687e-12 100 57.735 1.36424e-12 100 -28.8675 50 100 -28.8675 -50 100 28.8675 -50 100 28.8675 50 100 -57.735 9.66338e-13 0 28.8675 -50 0 -28.8675 -50 0 57.735 1.7053e-12 0 -28.8675 50 0 28.8675 50 2.498e-13</float_array>
|
||||
<technique_common>
|
||||
<accessor stride="3" count="36" source="#ID4">
|
||||
<param type="float" name="X"/>
|
||||
<param type="float" name="Y"/>
|
||||
<param type="float" name="Z"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="ID5">
|
||||
<float_array id="ID6" count="108">-0.866025 0.5 0 -0.866025 0.5 0 -0.866025 0.5 0 -0.866025 0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 5.51091e-16 -1 0 5.51091e-16 -1 0 5.51091e-16 -1 0 5.51091e-16 -1 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 0.5 0 0.866025 0.5 0 0.866025 0.5 0 0.866025 0.5 0 -4.28626e-16 1 0 -4.28626e-16 1 0 -4.28626e-16 1 0 -4.28626e-16 1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1</float_array>
|
||||
<technique_common>
|
||||
<accessor stride="3" count="36" source="#ID6">
|
||||
<param type="float" name="X"/>
|
||||
<param type="float" name="Y"/>
|
||||
<param type="float" name="Z"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="ID7">
|
||||
<input semantic="POSITION" source="#ID3"/>
|
||||
<input semantic="NORMAL" source="#ID5"/>
|
||||
</vertices>
|
||||
<triangles count="20" material="Material0">
|
||||
<input semantic="VERTEX" source="#ID7" offset="0"/>
|
||||
<p>0 1 2 1 0 3 4 5 6 5 4 7 8 9 10 9 8 11 12 13 14 13 12 15 16 17 18 17 16 19 20 21 22 21 20 23 24 25 26 24 27 28 28 25 24 26 25 29 30 31 32 31 30 33 33 34 35 33 30 34</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_materials>
|
||||
<material id="ID9">
|
||||
<instance_effect url="#ID8"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_effects>
|
||||
<effect id="ID8">
|
||||
<profile_COMMON>
|
||||
<technique sid="COMMON">
|
||||
<lambert>
|
||||
<diffuse>
|
||||
<color>0.392157 0.976471 0.121569 1</color>
|
||||
</diffuse>
|
||||
</lambert>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<scene>
|
||||
<instance_visual_scene url="#ID1"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user