mirror of
https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
synced 2025-09-15 13:08:35 +08:00
Merge pull request #41 from ROBOTIS-GIT/develop
modified folder name and add models
This commit is contained in:
Taehun Lim
GitHub
commit
4665992e6b
@ -2,7 +2,7 @@
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# CMake
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################################################################################
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cmake_minimum_required(VERSION 2.8.3)
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project(turtlebot3_gazebo_ros)
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project(turtlebot3_gazebo)
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set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
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@ -64,7 +64,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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install(DIRECTORY launch rviz worlds
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install(DIRECTORY launch rviz worlds models
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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@ -20,7 +20,7 @@
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<arg name="third_tb3_yaw" default=" 0.0"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find turtlebot3_gazebo_ros)/worlds/turtlebot3_house.world"/>
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<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
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<arg name="paused" value="false"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="true"/>
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@ -5,7 +5,7 @@
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<arg name="z_pos" default="0.0"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find turtlebot3_gazebo_ros)/worlds/empty.world"/>
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<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/empty.world"/>
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<arg name="paused" value="false"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="true"/>
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@ -5,5 +5,5 @@
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<arg name="model" value="$(arg model)"/>
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</include>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_gazebo_ros)/rviz/turtlebot3_gazebo_model.rviz"/>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_gazebo)/rviz/turtlebot3_gazebo_model.rviz"/>
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</launch>
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@ -7,7 +7,7 @@
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<node pkg="tf" type="static_transform_publisher" name="camera_tf" args="-1.95 -0.55 2.0 -1.58 0 -1.58 /odom /camera_link 100"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find turtlebot3_gazebo_ros)/worlds/turtlebot3_house.world"/>
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<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
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<arg name="paused" value="false"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="true"/>
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@ -7,7 +7,7 @@
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<node pkg="tf" type="static_transform_publisher" name="camera_tf" args="-1.95 -0.55 2.0 -1.58 0 -1.58 /odom /camera_link 100"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find turtlebot3_gazebo_ros)/worlds/turtlebot3_world.world"/>
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<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_world.world"/>
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<arg name="paused" value="false"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="true"/>
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File diff suppressed because one or more lines are too long
89
turtlebot3_gazebo/models/turtlebot3_burger/meshes/lds.dae
Normal file
89
turtlebot3_gazebo/models/turtlebot3_burger/meshes/lds.dae
Normal file
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
247
turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf
Normal file
247
turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf
Normal file
@ -0,0 +1,247 @@
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<model name="turtlebot3_burger">
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<link name="base">
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<inertial>
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<pose>-0.032 0 0.070 0 0 0</pose>
|
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<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
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<izz>0.001</izz>
|
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</inertia>
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<mass>1.0</mass>
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</inertial>
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|
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<collision name="base_collision">
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<pose>-0.032 0 0.070 0 0 0</pose>
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||||
<geometry>
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||||
<box>
|
||||
<size>0.140 0.140 0.140</size>
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</box>
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</geometry>
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</collision>
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|
||||
<visual name="base_visual">
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<pose>-0.032 0 0 0 0 0</pose>
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<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_burger/meshes/burger_base.dae</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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||||
</geometry>
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||||
</visual>
|
||||
|
||||
<collision name="caster_collision">
|
||||
<pose>-0.081 0 -0.004 0 0 0</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
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<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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||||
</ode>
|
||||
</friction>
|
||||
</surface>
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</collision>
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</link>
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|
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<link name="lidar">
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<inertial>
|
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<pose>-0.020 0 0.161 0 0 0</pose>
|
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<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.125</mass>
|
||||
</inertial>
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||||
|
||||
<collision name="lidar_sensor_collision">
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<pose>-0.020 0 0.161 0 0 0</pose>
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||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
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<length>0.055</length>
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</cylinder>
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||||
</geometry>
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</collision>
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||||
|
||||
<visual name="lidar_sensor_visual">
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<pose>-0.032 0 0.171 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_burger/meshes/lds.dae</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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||||
</visual>
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||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
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||||
<always_on>1</always_on>
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<visualize>0</visualize>
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||||
<pose>-0.032 0 0.171 0 0 0</pose>
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||||
<update_rate>1800</update_rate>
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||||
<ray>
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||||
<scan>
|
||||
<horizontal>
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||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
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<min_angle>0.000000</min_angle>
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||||
<max_angle>6.280000</max_angle>
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||||
</horizontal>
|
||||
</scan>
|
||||
<range>
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||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
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||||
<stddev>0.01</stddev>
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||||
</noise>
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||||
</ray>
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||||
</sensor>
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||||
</link>
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||||
|
||||
<link name="left_wheel">
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|
||||
<inertial>
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||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
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||||
</inertia>
|
||||
<mass>0.1</mass>
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||||
</inertial>
|
||||
|
||||
<collision name="left_wheel_collision">
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||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
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||||
<geometry>
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||||
<cylinder>
|
||||
<radius>0.033</radius>
|
||||
<length>0.018</length>
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||||
</cylinder>
|
||||
</geometry>
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||||
<surface>
|
||||
<!-- This friction pamareter don't contain reliable data!! -->
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||||
<friction>
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||||
<ode>
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<mu>100000.0</mu>
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||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
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||||
<slip1>0.0</slip1>
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||||
<slip2>0.0</slip2>
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||||
</ode>
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||||
</friction>
|
||||
</surface>
|
||||
</collision>
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||||
|
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<visual name="left_wheel_visual">
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||||
<pose>0 0.08 0.023 0 0 0</pose>
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||||
<geometry>
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||||
<mesh>
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||||
<uri>model://turtlebot3_burger/meshes/left_tire.dae</uri>
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||||
<scale>0.001 0.001 0.001</scale>
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||||
</mesh>
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||||
</geometry>
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||||
</visual>
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||||
</link>
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||||
|
||||
<link name="right_wheel">
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||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
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||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
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||||
<mass>0.1</mass>
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||||
</inertial>
|
||||
|
||||
<collision name="right_wheel_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>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="right_wheel_visual">
|
||||
<pose>0.0 -0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_burger/meshes/right_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>left_wheel</child>
|
||||
<pose>0.0 0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="right_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>right_wheel</child>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base</parent>
|
||||
<child>lidar</child>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
17
turtlebot3_gazebo/models/turtlebot3_burger/model.config
Normal file
17
turtlebot3_gazebo/models/turtlebot3_burger/model.config
Normal file
@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>turtlebot3_burger</name>
|
||||
<version>1.0</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>
|
||||
247
turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
Normal file
247
turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
Normal file
@ -0,0 +1,247 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="turtlebot3_burger">
|
||||
|
||||
<link name="base">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>1.0</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.032 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_burger/meshes/burger_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<collision name="caster_collision">
|
||||
<pose>-0.081 0 -0.004 0 0 0</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="lidar">
|
||||
<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>0.125</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.0508</radius>
|
||||
<length>0.055</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="lidar_sensor_visual">
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_burger/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>1</always_on>
|
||||
<visualize>0</visualize>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<update_rate>1800</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>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="left_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="left_wheel_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>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="left_wheel_visual">
|
||||
<pose>0 0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_burger/meshes/left_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="right_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="right_wheel_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>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="right_wheel_visual">
|
||||
<pose>0.0 -0.08 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_burger/meshes/right_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>left_wheel</child>
|
||||
<pose>0.0 0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="right_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>right_wheel</child>
|
||||
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base</parent>
|
||||
<child>lidar</child>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
11
turtlebot3_gazebo/models/turtlebot3_house/model.config
Normal file
11
turtlebot3_gazebo/models/turtlebot3_house/model.config
Normal file
@ -0,0 +1,11 @@
|
||||
<?xml version="1.0" ?>
|
||||
<model>
|
||||
<name>turtlebot3_house</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
<author>
|
||||
<name></name>
|
||||
<email></email>
|
||||
</author>
|
||||
<description></description>
|
||||
</model>
|
||||
5425
turtlebot3_gazebo/models/turtlebot3_house/model.sdf
Normal file
5425
turtlebot3_gazebo/models/turtlebot3_house/model.sdf
Normal file
File diff suppressed because it is too large
Load Diff
89
turtlebot3_gazebo/models/turtlebot3_waffle/meshes/lds.dae
Normal file
89
turtlebot3_gazebo/models/turtlebot3_waffle/meshes/lds.dae
Normal file
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
318
turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf
Normal file
318
turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf
Normal file
@ -0,0 +1,318 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="turtlebot3_waffle">
|
||||
|
||||
<link name="base">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>1.0</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.265 0.265 0.089</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.064 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<collision name="right_caster_collision">
|
||||
<pose>-0.177 -0.064 -0.004 0 0 0</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<collision name="left_caster_collision">
|
||||
<pose>-0.177 0.064 -0.004 0 0 0</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="lidar">
|
||||
<inertial>
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.125</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.052 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_waffle/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>1</always_on>
|
||||
<visualize>0</visualize>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<update_rate>1800</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>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="image">
|
||||
<inertial>
|
||||
<pose>-0.069 0 0.104 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>
|
||||
|
||||
<collision name="image_collision">
|
||||
<pose>-0.069 0 0.104 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.008 0.130 0.022</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<sensor name="intel_realsense_r200" type="camera">
|
||||
<always_on>1</always_on>
|
||||
<visualize>0</visualize>
|
||||
<update_rate>30</update_rate>
|
||||
<pose>0.064 -0.047 0.107 0 0 0</pose>
|
||||
<camera>
|
||||
<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>
|
||||
</camera>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="left_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="left_wheel_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>
|
||||
<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>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="left_wheel_visual">
|
||||
<pose>0.0 0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="right_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="right_wheel_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>
|
||||
<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>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="right_wheel_visual">
|
||||
<pose>0.0 -0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>left_wheel</child>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="right_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>right_wheel</child>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base</parent>
|
||||
<child>lidar</child>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="image_joint" type="fixed">
|
||||
<parent>base</parent>
|
||||
<child>image</child>
|
||||
<pose>0.064 -0.065 0.094 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
17
turtlebot3_gazebo/models/turtlebot3_waffle/model.config
Normal file
17
turtlebot3_gazebo/models/turtlebot3_waffle/model.config
Normal file
@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>turtlebot3_waffle</name>
|
||||
<version>1.0</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>
|
||||
318
turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
Normal file
318
turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
Normal file
@ -0,0 +1,318 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="turtlebot3_waffle">
|
||||
|
||||
<link name="base">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>1.0</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.265 0.265 0.089</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.064 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<collision name="right_caster_collision">
|
||||
<pose>-0.177 -0.064 -0.004 0 0 0</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<collision name="left_caster_collision">
|
||||
<pose>-0.177 0.064 -0.004 0 0 0</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="lidar">
|
||||
<inertial>
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.125</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.052 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_waffle/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>1</always_on>
|
||||
<visualize>0</visualize>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<update_rate>1800</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>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="image">
|
||||
<inertial>
|
||||
<pose>-0.069 0 0.104 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>
|
||||
|
||||
<collision name="image_collision">
|
||||
<pose>-0.069 0 0.104 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.008 0.130 0.022</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<sensor name="intel_realsense_r200" type="camera">
|
||||
<always_on>1</always_on>
|
||||
<visualize>0</visualize>
|
||||
<update_rate>30</update_rate>
|
||||
<pose>0.064 -0.047 0.107 0 0 0</pose>
|
||||
<camera>
|
||||
<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>
|
||||
</camera>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="left_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="left_wheel_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>
|
||||
<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>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="left_wheel_visual">
|
||||
<pose>0.0 0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="right_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="right_wheel_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>
|
||||
<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>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="right_wheel_visual">
|
||||
<pose>0.0 -0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>left_wheel</child>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="right_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>right_wheel</child>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base</parent>
|
||||
<child>lidar</child>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="image_joint" type="fixed">
|
||||
<parent>base</parent>
|
||||
<child>image</child>
|
||||
<pose>0.064 -0.065 0.094 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
89
turtlebot3_gazebo/models/turtlebot3_waffle_pi/meshes/lds.dae
Normal file
89
turtlebot3_gazebo/models/turtlebot3_waffle_pi/meshes/lds.dae
Normal file
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
319
turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4.sdf
Normal file
319
turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4.sdf
Normal file
@ -0,0 +1,319 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="turtlebot3_waffle_pi">
|
||||
|
||||
<link name="base">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>1.0</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.265 0.265 0.089</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.064 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle_pi/meshes/waffle_pi_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<collision name="right_caster_collision">
|
||||
<pose>-0.177 -0.064 -0.004 0 0 0</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<collision name="left_caster_collision">
|
||||
<pose>-0.177 0.064 -0.004 0 0 0</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="lidar">
|
||||
<inertial>
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.125</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.052 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_waffle_pi/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>1</always_on>
|
||||
<visualize>0</visualize>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<update_rate>1800</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>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="image">
|
||||
<inertial>
|
||||
<pose>-0.069 0 0.104 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>
|
||||
|
||||
<collision name="image_collision">
|
||||
<pose>-0.069 0 0.104 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.008 0.130 0.022</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<sensor name="raspberry_pi_cam" type="camera">
|
||||
<pose>0.076 0 0.094 0 0 0</pose>
|
||||
<always_on>1</always_on>
|
||||
<visualize>0</visualize>
|
||||
<update_rate>30</update_rate>
|
||||
<camera>
|
||||
<horizontal_fov>1.085595</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<depth_camera></depth_camera>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
</camera>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="left_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="left_wheel_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>
|
||||
<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>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="left_wheel_visual">
|
||||
<pose>0.0 0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle_pi/meshes/left_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="right_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="right_wheel_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>
|
||||
<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>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="right_wheel_visual">
|
||||
<pose>0.0 -0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle_pi/meshes/right_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>left_wheel</child>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="right_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>right_wheel</child>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base</parent>
|
||||
<child>lidar</child>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="image_joint" type="fixed">
|
||||
<parent>base</parent>
|
||||
<child>image</child>
|
||||
<pose>0.064 -0.065 0.094 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
</model>
|
||||
</sdf>
|
||||
17
turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config
Normal file
17
turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config
Normal file
@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>turtlebot3_waffle_pi</name>
|
||||
<version>1.0</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>
|
||||
319
turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
Normal file
319
turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
Normal file
@ -0,0 +1,319 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="turtlebot3_waffle_pi">
|
||||
|
||||
<link name="base">
|
||||
|
||||
<inertial>
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>1.0</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="base_collision">
|
||||
<pose>-0.064 0 0.048 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.265 0.265 0.089</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="base_visual">
|
||||
<pose>-0.064 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle_pi/meshes/waffle_pi_base.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<collision name="right_caster_collision">
|
||||
<pose>-0.177 -0.064 -0.004 0 0 0</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<collision name="left_caster_collision">
|
||||
<pose>-0.177 0.064 -0.004 0 0 0</pose>
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.005000</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>100000.0</mu>
|
||||
<mu2>100000.0</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="lidar">
|
||||
<inertial>
|
||||
<pose>-0.052 0 0.111 0 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.125</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="lidar_sensor_collision">
|
||||
<pose>-0.052 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_waffle_pi/meshes/lds.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<sensor name="hls_lfcd_lds" type="ray">
|
||||
<always_on>1</always_on>
|
||||
<visualize>0</visualize>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<update_rate>1800</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>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="image">
|
||||
<inertial>
|
||||
<pose>-0.069 0 0.104 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>
|
||||
|
||||
<collision name="image_collision">
|
||||
<pose>-0.069 0 0.104 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.008 0.130 0.022</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<sensor name="raspberry_pi_cam" type="camera">
|
||||
<pose>0.076 0 0.094 0 0 0</pose>
|
||||
<always_on>1</always_on>
|
||||
<visualize>0</visualize>
|
||||
<update_rate>30</update_rate>
|
||||
<camera>
|
||||
<horizontal_fov>1.085595</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<depth_camera></depth_camera>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
</camera>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<link name="left_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="left_wheel_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>
|
||||
<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>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="left_wheel_visual">
|
||||
<pose>0.0 0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle_pi/meshes/left_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="right_wheel">
|
||||
|
||||
<inertial>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0.000</ixy>
|
||||
<ixz>0.000</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0.000</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
|
||||
<collision name="right_wheel_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>
|
||||
<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>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name="right_wheel_visual">
|
||||
<pose>0.0 -0.144 0.023 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_waffle_pi/meshes/right_tire.dae</uri>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>left_wheel</child>
|
||||
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="right_wheel_joint" type="revolute">
|
||||
<parent>base</parent>
|
||||
<child>right_wheel</child>
|
||||
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base</parent>
|
||||
<child>lidar</child>
|
||||
<pose>-0.064 0 0.121 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="image_joint" type="fixed">
|
||||
<parent>base</parent>
|
||||
<child>image</child>
|
||||
<pose>0.064 -0.065 0.094 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
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76
turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae
Normal file
76
turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae
Normal file
@ -0,0 +1,76 @@
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76
turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae
Normal file
76
turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae
Normal file
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549
turtlebot3_gazebo/models/turtlebot3_world/model-1_4.sdf
Normal file
549
turtlebot3_gazebo/models/turtlebot3_world/model-1_4.sdf
Normal file
@ -0,0 +1,549 @@
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|
||||
<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='three_one'>
|
||||
<pose>1.1 -1.1 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='three_two'>
|
||||
<pose>1.1 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='three_two'>
|
||||
<pose>1.1 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='three_three'>
|
||||
<pose>1.1 1.1 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='three_three'>
|
||||
<pose>1.1 1.1 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>
|
||||
|
||||
<!-- Draw Hexagon -->
|
||||
<collision name='head'>
|
||||
<pose>3.5 0 -0.5 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.8 0.8 0.8</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='head'>
|
||||
<pose>3.5 0 -0.5 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.8 0.8 0.8</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='left_hand'>
|
||||
<pose>1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='left_hand'>
|
||||
<pose>1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='right_hand'>
|
||||
<pose>1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='right_hand'>
|
||||
<pose>1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='left_foot'>
|
||||
<pose>-1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='left_foot'>
|
||||
<pose>-1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='right_foot'>
|
||||
<pose>-1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='right_foot'>
|
||||
<pose>-1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- Draw Wall -->
|
||||
<collision name='body'>
|
||||
<pose>0 0 -0.3 0 0 -1.5708</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/wall.dae</uri>
|
||||
<scale>0.25 0.25 0.25</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='body'>
|
||||
<pose>0 0 -0.3 0 0 -1.5708</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/wall.dae</uri>
|
||||
<scale>0.25 0.25 0.25</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
17
turtlebot3_gazebo/models/turtlebot3_world/model.config
Normal file
17
turtlebot3_gazebo/models/turtlebot3_world/model.config
Normal file
@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>turtlebot3_world</name>
|
||||
<version>1.0</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>
|
||||
World of TurtleBot3 with ROS symbol
|
||||
</description>
|
||||
</model>
|
||||
549
turtlebot3_gazebo/models/turtlebot3_world/model.sdf
Normal file
549
turtlebot3_gazebo/models/turtlebot3_world/model.sdf
Normal file
@ -0,0 +1,549 @@
|
||||
<sdf version='1.5'>
|
||||
<!-- Draw Circle -->
|
||||
<model name='ros_symbol'>
|
||||
<static>1</static>
|
||||
<link name='symbol'>
|
||||
<collision name='one_one'>
|
||||
<pose>-1.1 -1.1 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='one_one'>
|
||||
<pose>-1.1 -1.1 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='one_two'>
|
||||
<pose>-1.1 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='one_two'>
|
||||
<pose>-1.1 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='one_three'>
|
||||
<pose>-1.1 1.1 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='one_three'>
|
||||
<pose>-1.1 1.1 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='two_one'>
|
||||
<pose>0 -1.1 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='two_one'>
|
||||
<pose>0 -1.1 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='two_two'>
|
||||
<pose>0 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='two_two'>
|
||||
<pose>0 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='two_three'>
|
||||
<pose>0 1.1 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='two_three'>
|
||||
<pose>0 1.1 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='three_one'>
|
||||
<pose>1.1 -1.1 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='three_one'>
|
||||
<pose>1.1 -1.1 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='three_two'>
|
||||
<pose>1.1 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='three_two'>
|
||||
<pose>1.1 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='three_three'>
|
||||
<pose>1.1 1.1 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='three_three'>
|
||||
<pose>1.1 1.1 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>
|
||||
|
||||
<!-- Draw Hexagon -->
|
||||
<collision name='head'>
|
||||
<pose>3.5 0 -0.5 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.8 0.8 0.8</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='head'>
|
||||
<pose>3.5 0 -0.5 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.8 0.8 0.8</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='left_hand'>
|
||||
<pose>1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='left_hand'>
|
||||
<pose>1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='right_hand'>
|
||||
<pose>1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='right_hand'>
|
||||
<pose>1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='left_foot'>
|
||||
<pose>-1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='left_foot'>
|
||||
<pose>-1.8 2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision name='right_foot'>
|
||||
<pose>-1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='right_foot'>
|
||||
<pose>-1.8 -2.7 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
|
||||
<scale>0.55 0.55 0.55</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- Draw Wall -->
|
||||
<collision name='body'>
|
||||
<pose>0 0 -0.3 0 0 -1.5708</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/wall.dae</uri>
|
||||
<scale>0.25 0.25 0.25</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<max_contacts>10</max_contacts>
|
||||
<surface>
|
||||
<bounce/>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
|
||||
<visual name='body'>
|
||||
<pose>0 0 -0.3 0 0 -1.5708</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://turtlebot3_world/meshes/wall.dae</uri>
|
||||
<scale>0.25 0.25 0.25</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/FlatBlack</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@ -1,6 +1,6 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>turtlebot3_gazebo_ros</name>
|
||||
<name>turtlebot3_gazebo</name>
|
||||
<version>0.2.4</version>
|
||||
<description>
|
||||
Gazebo simulation package for the TurtleBot3
|
||||
@ -16,7 +16,7 @@
|
||||
|
||||
/* Authors: Taehun Lim (Darby) */
|
||||
|
||||
#include "turtlebot3_gazebo_ros/turtlebot3_drive.h"
|
||||
#include "turtlebot3_gazebo/turtlebot3_drive.h"
|
||||
|
||||
Turtlebot3Drive::Turtlebot3Drive()
|
||||
: nh_priv_("~")
|
||||
@ -14,6 +14,6 @@
|
||||
<url type="website">http://turtlebot3.robotis.com</url>
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<exec_depend>turtlebot3_fake</exec_depend>
|
||||
<exec_depend>turtlebot3_gazebo_ros</exec_depend>
|
||||
<exec_depend>turtlebot3_gazebo</exec_depend>
|
||||
<export><metapackage/></export>
|
||||
</package>
|
||||
Loading…
Reference in New Issue
Block a user