mirror of
https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
synced 2025-09-15 13:08:35 +08:00
529 lines
14 KiB
XML
529 lines
14 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="turtlebot3_waffle_pi">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<link name="base_footprint"/>
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<link name="base_link">
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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_pi/meshes/waffle_pi_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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</link>
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<link name="imu_link">
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<sensor name="tb3_imu" type="imu">
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<always_on>true</always_on>
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<update_rate>200</update_rate>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
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<ros>
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<!-- <namespace>/tb3</namespace> -->
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<remapping>~/out:=imu</remapping>
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</ros>
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</plugin>
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</sensor>
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</link>
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<link name="base_scan">
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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>true</always_on>
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<visualize>true</visualize>
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<pose>-0.064 0 0.121 0 0 0</pose>
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<update_rate>5</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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<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
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<ros>
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<!-- <namespace>/tb3</namespace> -->
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<remapping>~/out:=scan</remapping>
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</ros>
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<output_type>sensor_msgs/LaserScan</output_type>
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<frame_name>base_scan</frame_name>
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</plugin>
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</sensor>
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</link>
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<link name="wheel_left_link">
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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="wheel_left_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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<!-- 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>
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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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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+5</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="wheel_left_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/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="wheel_right_link">
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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="wheel_right_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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<!-- 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>
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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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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+5</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="wheel_right_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/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='caster_back_right_link'>
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<pose>-0.177 -0.064 -0.004 0 0 0</pose>
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<inertial>
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<mass>0.001</mass>
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<inertia>
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<ixx>0.00001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.00001</iyy>
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<iyz>0.000</iyz>
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<izz>0.00001</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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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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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+5</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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</link>
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<link name='caster_back_left_link'>
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<pose>-0.177 0.064 -0.004 0 0 0</pose>
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<inertial>
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<mass>0.001</mass>
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<inertia>
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<ixx>0.00001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.00001</iyy>
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<iyz>0.000</iyz>
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<izz>0.00001</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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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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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+5</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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</link>
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<link name="camera_link"/>
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<link name="camera_rgb_optical_frame">
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<inertial>
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<pose>0.076 0.0 0.093 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="collision">
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<pose>0.076 0.0 0.093 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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<pose>0.076 0.0 0.093 0 0 0</pose>
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<sensor name="camera" type="camera">
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<always_on>true</always_on>
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<visualize>true</visualize>
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<update_rate>30</update_rate>
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<camera name="picam">
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<horizontal_fov>1.085595</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.03</near>
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<far>100</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<!-- Noise is sampled independently per pixel on each frame.
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That pixel's noise value is added to each of its color
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channels, which at that point lie in the range [0,1]. -->
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<plugin name="camera_driver" filename="libgazebo_ros_camera.so">
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<ros>
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<!-- <namespace>test_cam</namespace> -->
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<!-- <remapping>image_raw:=image_demo</remapping> -->
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<!-- <remapping>camera_info:=camera_info_demo</remapping> -->
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</ros>
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<!-- camera_name>omit so it defaults to sensor name</camera_name-->
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<!-- frame_name>omit so it defaults to link name</frameName-->
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<!-- <hack_baseline>0.07</hack_baseline> -->
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</plugin>
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</sensor>
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</link>
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<joint name="base_joint" type="fixed">
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<parent>base_footprint</parent>
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<child>base_link</child>
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<pose>0.0 0.0 0.010 0 0 0</pose>
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</joint>
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<joint name="wheel_left_joint" type="revolute">
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<parent>base_link</parent>
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<child>wheel_left_link</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 0 1</xyz>
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</axis>
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</joint>
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<joint name="wheel_right_joint" type="revolute">
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<parent>base_link</parent>
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<child>wheel_right_link</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 0 1</xyz>
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</axis>
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</joint>
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<joint name='caster_back_right_joint' type='ball'>
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<parent>base_link</parent>
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<child>caster_back_right_link</child>
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</joint>
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<joint name='caster_back_left_joint' type='ball'>
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<parent>base_link</parent>
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<child>caster_back_left_link</child>
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</joint>
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<joint name="imu_joint" type="fixed">
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<parent>base_link</parent>
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<child>imu_link</child>
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<pose>-0.032 0 0.068 0 0 0</pose>
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<axis>
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<xyz>0 0 1</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_link</parent>
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<child>base_scan</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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</axis>
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</joint>
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<joint name="camera_joint" type="fixed">
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<parent>base_link</parent>
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<child>camera_link</child>
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<pose>0.073 -0.011 0.084 0 0 0</pose>
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<axis>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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<joint name="camera_rgb_joint" type="fixed">
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<parent>camera_link</parent>
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<child>camera_rgb_optical_frame</child>
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<pose>0.003 0.011 0.009 0 0 0</pose>
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<axis>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
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<ros>
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<!-- <namespace>/tb3</namespace> -->
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</ros>
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<update_rate>30</update_rate>
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<!-- wheels -->
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<left_joint>wheel_left_joint</left_joint>
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<right_joint>wheel_right_joint</right_joint>
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<!-- kinematics -->
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<wheel_separation>0.287</wheel_separation>
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<wheel_diameter>0.066</wheel_diameter>
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<!-- limits -->
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<max_wheel_torque>20</max_wheel_torque>
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<max_wheel_acceleration>1.0</max_wheel_acceleration>
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<command_topic>cmd_vel</command_topic>
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<!-- output -->
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<publish_odom>true</publish_odom>
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<publish_odom_tf>true</publish_odom_tf>
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<publish_wheel_tf>false</publish_wheel_tf>
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<odometry_topic>odom</odometry_topic>
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<odometry_frame>odom</odometry_frame>
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<robot_base_frame>base_footprint</robot_base_frame>
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</plugin>
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<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
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<ros>
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<!-- <namespace>/tb3</namespace> -->
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<remapping>~/out:=joint_states</remapping>
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</ros>
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<update_rate>30</update_rate>
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<joint_name>wheel_left_joint</joint_name>
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<joint_name>wheel_right_joint</joint_name>
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</plugin>
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</model>
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</sdf>
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