turtlebot3_simulations/turtlebot3_manipulation_gazebo/gazebo/turtlebot3_waffle_pi.gazebo.xacro

<?xml version="1.0"?>
<!--
Copied and modified from turtlebot3 example:
https://github.com/ROBOTIS-GIT/turtlebot3/blob/kinetic-devel/turtlebot3_description/urdf/turtlebot3_waffle_pi_for_open_manipulator.gazebo.xacro
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:macro name="turtlebot3_waffle_pi_gazebo" params="prefix">

  <xacro:property name="laser_visual"  value="true"/>
  <xacro:property name="camera_visual" value="true"/>
  <xacro:property name="imu_visual"    value="true"/>

  <gazebo reference="${prefix}base_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>

  <gazebo reference="${prefix}wheel_left_link">
    <mu1>10000</mu1>
    <mu2>10000</mu2>
    <kp>500000.0</kp>
    <kd>10.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>0.1</maxVel>
    <fdir1>1 0 0</fdir1>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="${prefix}wheel_right_link">
    <mu1>10000</mu1>
    <mu2>10000</mu2>
    <kp>500000.0</kp>
    <kd>10.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>0.1</maxVel>
    <fdir1>1 0 0</fdir1>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="${prefix}caster_back_right_link">
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="${prefix}caster_back_left_link">
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="${prefix}imu_link">
    <material>Gazebo/Grey</material>
    <sensor type="imu" name="imu">
      <always_on>true</always_on>
      <update_rate>100.0</update_rate>
      <visualize>${imu_visual}</visualize>
    </sensor>
  </gazebo>

  <gazebo>
    <plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
      <ros>
        <namespace></namespace>
        <remapping>cmd_vel:=cmd_vel</remapping>
        <remapping>odom:=odom</remapping>
      </ros>

      <left_joint>wheel_left_joint</left_joint>
      <right_joint>wheel_right_joint</right_joint>
      <wheel_separation>0.287</wheel_separation>
      <wheel_diameter>0.066</wheel_diameter>
      <max_wheel_torque>20</max_wheel_torque>
      <max_wheel_acceleration>1.0</max_wheel_acceleration>
      <publish_odom>true</publish_odom>
      <publish_odom_tf>true</publish_odom_tf>
      <publish_wheel_tf>false</publish_wheel_tf>
      <odometry_frame>odom</odometry_frame>
      <robot_base_frame>base_footprint</robot_base_frame>
    </plugin>
  </gazebo>

  <gazebo reference="${prefix}base_scan">
    <material>Gazebo/FlatBlack</material>
    <sensor type="ray" name="lds_lfcd_sensor">
      <pose>0 0 0 0 0 0</pose>
      <always_on>true</always_on>
      <update_rate>5.0</update_rate>
      <visualize>${laser_visual}</visualize>
      <ray>
        <scan>
          <horizontal>
            <samples>360</samples>
            <resolution>1</resolution>
            <min_angle>0.0</min_angle>
            <max_angle>6.28319</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.120</min>
          <max>3.5</max>
          <resolution>0.015</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_ray_sensor.so">
        <ros>
          <namespace></namespace>
          <remapping>~/out:=scan</remapping>
        </ros>
        <output_type>sensor_msgs/LaserScan</output_type>
      </plugin>
    </sensor>
  </gazebo>

  <gazebo reference="${prefix}camera_rgb_frame">
    <sensor type="camera" name="pi_camera">
      <update_rate>30</update_rate>
      <always_on>true</always_on>
      <visualize>${camera_visual}</visualize>
      <camera>
          <horizontal_fov>1.085595</horizontal_fov>
          <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
          </image>
          <clip>
              <near>0.03</near>
              <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <!-- Noise is sampled independently per pixel on each frame.
                 That pixel's noise value is added to each of its color
                 channels, which at that point lie in the range [0,1]. -->
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
      </camera>
      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
        <ros>
          <namespace></namespace>
          <remapping>image_raw:=image_raw</remapping>
          <remapping>camera_info:=camera_info</remapping>
        </ros>
      </plugin>
    </sensor>
  </gazebo>

  </xacro:macro>

</robot>