mirror of
https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
synced 2025-09-15 13:08:35 +08:00
319 lines
7.9 KiB
XML
319 lines
7.9 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.4">
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<model name="turtlebot3_waffle">
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<link name="base">
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<inertial>
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<pose>-0.064 0 0.048 0 0 0</pose>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.001</iyy>
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<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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<collision name="base_collision">
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<pose>-0.064 0 0.048 0 0 0</pose>
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<geometry>
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<box>
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<size>0.265 0.265 0.089</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>-0.064 0 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_waffle/meshes/waffle_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>
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<collision name="right_caster_collision">
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<pose>-0.177 -0.064 -0.004 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.005000</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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<collision name="left_caster_collision">
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<pose>-0.177 0.064 -0.004 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.005000</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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</link>
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<link name="lidar">
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<inertial>
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<pose>-0.052 0 0.111 0 0 0</pose>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.001</iyy>
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<iyz>0.000</iyz>
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<izz>0.001</izz>
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</inertia>
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<mass>0.125</mass>
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</inertial>
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<collision name="lidar_sensor_collision">
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<pose>-0.052 0 0.111 0 0 0</pose>
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<geometry>
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<cylinder>
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<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>-0.064 0 0.121 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_waffle/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>-0.064 0 0.121 0 0 0</pose>
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<update_rate>1800</update_rate>
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<ray>
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<scan>
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<horizontal>
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<samples>360</samples>
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<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>
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</scan>
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<range>
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<min>0.120000</min>
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<max>3.5</max>
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<resolution>0.015000</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<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="image">
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<inertial>
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<pose>-0.069 0 0.104 0 0 0</pose>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.001</iyy>
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<iyz>0.000</iyz>
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<izz>0.001</izz>
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</inertia>
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<mass>0.035</mass>
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</inertial>
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<collision name="image_collision">
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<pose>-0.069 0 0.104 0 0 0</pose>
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<geometry>
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<box>
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<size>0.008 0.130 0.022</size>
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</box>
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</geometry>
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</collision>
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<sensor name="intel_realsense_r200" type="camera">
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<always_on>1</always_on>
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<visualize>0</visualize>
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<update_rate>30</update_rate>
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<pose>0.064 -0.047 0.107 0 0 0</pose>
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<camera>
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<horizontal_fov>1.02974</horizontal_fov>
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<image>
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<width>1920</width>
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<height>1080</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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</camera>
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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 0.144 0.023 -1.57 0 0</pose>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.001</iyy>
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<iyz>0.000</iyz>
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<izz>0.001</izz>
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</inertia>
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<mass>0.1</mass>
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</inertial>
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<collision name="left_wheel_collision">
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<pose>0.0 0.144 0.023 -1.57 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.033</radius>
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<length>0.018</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<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>
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</surface>
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</collision>
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<visual name="left_wheel_visual">
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<pose>0.0 0.144 0.023 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_waffle/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>
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<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.001</iyy>
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<iyz>0.000</iyz>
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<izz>0.001</izz>
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</inertia>
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<mass>0.1</mass>
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</inertial>
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<collision name="right_wheel_collision">
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<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.033</radius>
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<length>0.018</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<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>
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</surface>
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</collision>
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<visual name="right_wheel_visual">
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<pose>0.0 -0.144 0.023 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_waffle/meshes/right_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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<joint name="left_wheel_joint" type="revolute">
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<parent>base</parent>
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<child>left_wheel</child>
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<pose>0.0 0.144 0.023 -1.57 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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</joint>
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<joint name="right_wheel_joint" type="revolute">
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<parent>base</parent>
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<child>right_wheel</child>
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<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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</joint>
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<joint name="lidar_joint" type="fixed">
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<parent>base</parent>
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<child>lidar</child>
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<pose>-0.064 0 0.121 0 0 0</pose>
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<axis>
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<xyz>0 0 1</xyz>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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</joint>
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<joint name="image_joint" type="fixed">
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<parent>base</parent>
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<child>image</child>
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<pose>0.064 -0.065 0.094 0 0 0</pose>
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<axis>
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<xyz>0 0 1</xyz>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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</joint>
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</model>
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</sdf>
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