From d693351ce6c73c5f8621c4a67a3114ce4f03d0a1 Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@osrfoundation.org>
Date: Thu, 31 Dec 2015 14:00:21 -0800
Subject: [PATCH] add follower vehicle model

---
 follower_vehicle/model.config |  14 ++
 follower_vehicle/model.sdf    | 429 ++++++++++++++++++++++++++++++++++
 2 files changed, 443 insertions(+)
 create mode 100644 follower_vehicle/model.config
 create mode 100644 follower_vehicle/model.sdf

diff --git a/follower_vehicle/model.config b/follower_vehicle/model.config
new file mode 100644
index 0000000..649a401
--- /dev/null
+++ b/follower_vehicle/model.config
@@ -0,0 +1,14 @@
+<?xml version="1.0" ?>
+<model>
+    <name>Follower Vehicle</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Ian Chen</name>
+        <email>ichen@osrfoundation.org</email>
+    </author>
+    <description>
+      A differential drive vehicle equipped with the FollowerPlugin that follows
+      the closest object detected by its depth camera sensor.
+    </description>
+</model>
diff --git a/follower_vehicle/model.sdf b/follower_vehicle/model.sdf
new file mode 100644
index 0000000..a79391b
--- /dev/null
+++ b/follower_vehicle/model.sdf
@@ -0,0 +1,429 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='follower_vehicle'>
+    <pose frame=''>0 0 0.325 0 -0 0</pose>
+    <link name='chassis'>
+      <pose frame=''>-0.151427 -0 0.175 0 -0 0</pose>
+      <inertial>
+        <mass>1.14395</mass>
+        <inertia>
+          <ixx>0.126164</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.416519</iyy>
+          <iyz>0</iyz>
+          <izz>0.481014</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <self_collide>0</self_collide>
+      <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.01142 1 0.568726</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.01142 1 0.568726</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <link name='wheel_1'>
+      <pose frame=''>0.554283 0.625029 -0.025 1.5707 0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.145833</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.145833</iyy>
+          <iyz>0</iyz>
+          <izz>0.125</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <self_collide>0</self_collide>
+      <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.3</radius>
+            <length>0.25</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.3</radius>
+            <length>0.25</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <link name='wheel_2'>
+      <pose frame=''>0.554282 -0.625029 -0.025 1.5707 0 0</pose>
+      <inertial>
+        <mass>2</mass>
+        <inertia>
+          <ixx>0.145833</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.145833</iyy>
+          <iyz>0</iyz>
+          <izz>0.125</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <self_collide>0</self_collide>
+      <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.3</radius>
+            <length>0.25</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.3</radius>
+            <length>0.25</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <link name='caster'>
+      <pose frame=''>-0.957138 -0 -0.125 0 -0 0</pose>
+      <inertial>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <self_collide>0</self_collide>
+      <visual name='visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.2</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.2</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <model name='depth_camera'>
+      <link name='link'>
+        <pose frame=''>0.05 0.05 0.05 0 -0 0</pose>
+        <inertial>
+          <mass>0.1</mass>
+          <inertia>
+            <ixx>0.000166667</ixx>
+            <iyy>0.000166667</iyy>
+            <izz>0.000166667</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+          </geometry>
+        </visual>
+        <sensor name='camera' type='depth'>
+          <camera name='depth'>
+            <horizontal_fov>1.047</horizontal_fov>
+            <image>
+              <width>320</width>
+              <height>240</height>
+            </image>
+            <clip>
+              <near>0.1</near>
+              <far>100</far>
+            </clip>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>30</update_rate>
+          <visualize>1</visualize>
+        </sensor>
+      </link>
+      <pose frame=''>0.569632 -0.03223 0.502056 0 -0 0</pose>
+    </model>
+    <joint name='chassis_wheel_1_revolute' type='revolute'>
+      <parent>chassis</parent>
+      <child>wheel_1</child>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>1.79769e+308</upper>
+          <effort>-1</effort>
+          <velocity>-1</velocity>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+          <damping>0</damping>
+          <friction>0</friction>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+          <suspension>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </suspension>
+        </ode>
+      </physics>
+    </joint>
+    <joint name='chassis_wheel_2_revolute' type='revolute'>
+      <parent>chassis</parent>
+      <child>wheel_2</child>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>1.79769e+308</upper>
+          <effort>-1</effort>
+          <velocity>-1</velocity>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+          <damping>0</damping>
+          <friction>0</friction>
+        </dynamics>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+          <suspension>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </suspension>
+        </ode>
+      </physics>
+    </joint>
+    <joint name='chassis_caster_ball' type='ball'>
+      <parent>chassis</parent>
+      <child>caster</child>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+          <suspension>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </suspension>
+        </ode>
+      </physics>
+    </joint>
+    <joint name='chassis_depth_camera_link_fixed' type='fixed'>
+      <parent>chassis</parent>
+      <child>depth_camera::link</child>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+          <suspension>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </suspension>
+        </ode>
+      </physics>
+    </joint>
+    <static>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+    <plugin name='follower' filename='libFollowerPlugin.so'/>
+  </model>
+</sdf>