ROS_Robot/turtlebot3_simulations
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update link name

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This commit is contained in:
Darby Lim 2018-11-15 16:06:16 +09:00
parent 74a9b3e97e
commit fa11f5edef
1 changed files with 23 additions and 19 deletions
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42
turtlebot3_gazebo/worlds/turtlebot3_ros2_demo.world
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@ -76,9 +76,9 @@
</model>
<model name="turtlebot3">
<pose>-2.0 0.0 0.1 0.0 0.0 0.0</pose>
<pose>-2.0 -0.5 0.05 0.0 0.0 0.0</pose>
<!-- <link name="base_footprint"/> -->
<link name="base_footprint"/>
<link name="base_link">
@ -170,7 +170,7 @@
</sensor>
</link>
<link name="base_scan">
<link name="base_scan_link">
<inertial>
<pose>-0.020 0 0.161 0 0 0</pose>
<inertia>
@ -205,10 +205,10 @@
</visual>
<sensor name="hls_lfcd_lds" type="ray">
<always_on>1</always_on>
<visualize>1</visualize>
<always_on>true</always_on>
<visualize>false</visualize>
<pose>-0.032 0 0.171 0 0 0</pose>
<update_rate>1800</update_rate>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
@ -239,7 +239,7 @@
</sensor>
</link>
<link name="left_wheel">
<link name="left_wheel_link">
<inertial>
<pose>0 0.08 0.023 -1.57 0 0</pose>
@ -297,7 +297,7 @@
</visual>
</link>
<link name="right_wheel">
<link name="right_wheel_link">
<inertial>
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
@ -355,7 +355,7 @@
</visual>
</link>
<link name='caster'>
<link name='caster_link'>
<pose>-0.081 0 -0.004 0 0 0</pose>
<inertial>
<mass>0.001</mass>
@ -389,9 +389,15 @@
</collision>
</link>
<joint name="base_joint" type="fixed">
<parent>base_footprint</parent>
<child>base_link</child>
<pose>0.0 0.0 0.010 0 0 0</pose>
</joint>
<joint name="left_wheel_joint" type="revolute">
<parent>base_link</parent>
<child>left_wheel</child>
<child>left_wheel_link</child>
<pose>0.0 0.08 0.023 -1.57 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
@ -400,16 +406,16 @@
<joint name="right_wheel_joint" type="revolute">
<parent>base_link</parent>
<child>right_wheel</child>
<child>right_wheel_link</child>
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name='caster_wheel' type='ball'>
<joint name='caster_wheel_joint' type='ball'>
<parent>base_link</parent>
<child>caster</child>
<child>caster_link</child>
</joint>
<joint name="imu_joint" type="fixed">
@ -418,21 +424,19 @@
<pose>-0.032 0 0.068 0 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
<!-- <use_parent_model_frame>true</use_parent_model_frame> -->
</axis>
</joint>
<joint name="lidar_joint" type="fixed">
<parent>base_link</parent>
<child>base_scan</child>
<child>base_scan_link</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>
<plugin name="diff_drive" filename="libgazebo_ros_diff_drive.so">
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
<ros>
<!-- <namespace>/tb3</namespace> -->
@ -456,11 +460,11 @@
<publish_wheel_tf>true</publish_wheel_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
<robot_base_frame>base_footprint</robot_base_frame>
</plugin>
<plugin name="gazebo_ros_joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
<ros>
<!-- <namespace>/tb3</namespace> -->
<argument>~/out:=joint_states</argument>