mirror of
https://github.com/6-robot/wpr_simulation2.git
synced 2025-09-15 12:58:54 +08:00
408 lines
12 KiB
XML
408 lines
12 KiB
XML
<?xml version="1.0"?>
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<robot name="wpb_home_gazebo">
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<link name="base_footprint">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.05 0.05 0.001" />
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</geometry>
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</visual>
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</link>
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<joint name="base_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="base_footprint"/>
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<child link="base_link" />
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</joint>
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<!-- base -->
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<link name="base_link">
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<visual>
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<geometry>
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<box size="0.01 0.01 0.001" />
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</geometry>
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<origin rpy = "0 0 0" xyz = "0 0 0"/>
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</visual>
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</link>
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<!-- body -->
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<link name = "body_link">
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<visual>
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<geometry>
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<mesh filename="package://wpr_simulation2/meshes/wpb_home/wpb_home_std.dae" scale="1 1 1"/>
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</geometry>
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<origin rpy = "1.57 0 1.57" xyz = "-.225 -0.225 0"/>
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</visual>
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<collision>
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<origin xyz="0.001 0 .065" rpy="0 0 0" />
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<geometry>
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<cylinder length="0.13" radius="0.226"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="20"/>
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<inertia ixx="4.00538" ixy="0.0" ixz="0.0" iyy="4.00538" iyz="0.0" izz="0.51076"/>
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</inertial>
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</link>
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<joint name = "base_to_body" type = "fixed">
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<parent link = "base_link"/>
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<child link = "body_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/> <!--pos-->
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</joint>
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<!-- top of base -->
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<link name = "base_top_link">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.33 0.31 0.01"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01"/>
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
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</inertial>
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</link>
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<joint name = "body_to_top" type = "fixed">
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<parent link = "body_link"/>
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<child link = "base_top_link"/>
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<origin rpy="0 0 0" xyz="0.01 0 0.2"/> <!--pos-->
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</joint>
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<!-- back -->
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<link name = "body_back_link">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.03 0.23 1.05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01"/>
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
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</inertial>
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</link>
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<joint name = "body_to_back" type = "fixed">
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<parent link = "base_top_link"/>
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<child link = "body_back_link"/>
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<origin rpy="0 0.31 0" xyz="-0.038 0 0.5"/> <!--pos-->
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</joint>
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<!-- head -->
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<link name = "head_link">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.07 0.28 0.06"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01"/>
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
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</inertial>
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</link>
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<joint name = "body_to_head" type = "fixed">
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<parent link = "base_top_link"/>
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<child link = "head_link"/>
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<origin rpy="0 0.27 0" xyz="0.155 0 1.17"/> <!--pos-->
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</joint>
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<!-- front -->
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<link name = "front_link">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<cylinder length="1.1" radius="0.01"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01"/>
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
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</inertial>
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</link>
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<joint name = "body_to_front" type = "fixed">
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<parent link = "base_top_link"/>
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<child link = "front_link"/>
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<origin rpy="0 0 0" xyz="0.15 0 0.55"/> <!--pos-->
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</joint>
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<!-- Lidar -->
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<link name = "laser">
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<visual>
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<geometry>
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<cylinder length="0.001" radius="0.001"/>
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</geometry>
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<origin rpy = "0 0 0" xyz = "0 0 0"/>
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</visual>
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</link>
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<joint name="laser_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0.15" /> <!--pos-->
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<parent link="base_link" />
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<child link="laser" />
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</joint>
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<!-- Kinect -->
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<link name = "kinect2_dock">
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<visual>
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<geometry>
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<!-- <box size=".01 .25 .07"/>-->
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<origin rpy = "0 0 0" xyz = "0 0 0"/>
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</visual>
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</link>
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<joint name="kinect_height" type="fixed">
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<parent link="base_link"/>
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<child link="kinect2_dock"/>
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<origin xyz="0.145 -0.013 1.37" rpy="0 0 0"/>
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</joint>
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<link name = "kinect2_head_frame">
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<visual>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<origin xyz = "0 0 0" rpy = "0 0 0"/>
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</visual>
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</link>
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<!--kinect_pitch -->
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<joint name="kinect_pitch" type="fixed">
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<origin xyz="0 0 0" rpy="0 0.1 0" />
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<parent link="kinect2_dock" />
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<child link="kinect2_head_frame" />
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</joint>
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<link name = "kinect2_front_frame">
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<visual>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<origin xyz = "0 0 0" rpy = "0 0 0"/>
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</visual>
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</link>
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<joint name="kinect_head" type="fixed">
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<origin xyz="0 0 0" rpy=" 0 1.57 0" />
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<parent link="kinect2_head_frame" />
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<child link="kinect2_front_frame" />
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</joint>
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<link name = "kinect2_ir_optical_frame">
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<visual>
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<geometry>
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<!-- <box size=".25 .04 .07"/>-->
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<origin xyz = "0 0 0" rpy = "0 0 0"/>
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</visual>
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</link>
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<joint name="kinect_ir_trans" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 -1.57" />
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<parent link="kinect2_front_frame" />
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<child link="kinect2_ir_optical_frame" />
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</joint>
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<link name = "kinect2_camera_frame">
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<visual>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<origin rpy = "0 0 0" xyz = "0 0 0" />
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</visual>
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</link>
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<joint name="kinect_camra_joint" type="fixed">
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<origin xyz="0 0 0" rpy="3.1415926 0 -1.5707963" />
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<parent link="kinect2_ir_optical_frame" />
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<child link="kinect2_camera_frame" />
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</joint>
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<link name = "kinect2_rgb_optical_frame">
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<visual>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<origin rpy = "0 0 0" xyz = "0 0 0" />
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</visual>
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</link>
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<joint name="kinect_hd_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 1.5707963 0" />
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<parent link="kinect2_camera_frame" />
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<child link="kinect2_rgb_optical_frame" />
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</joint>
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<!-- Gazebo plugin for WPR -->
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<gazebo>
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<plugin name="base_controller" filename="libwpr_plugin.so">
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<publishOdometryTf>true</publishOdometryTf>
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<commandTopic>cmd_vel</commandTopic>
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<odometryTopic>odom</odometryTopic>
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<odometryFrame>odom</odometryFrame>
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<odometryRate>20.0</odometryRate>
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<robotBaseFrame>base_footprint</robotBaseFrame>
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</plugin>
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</gazebo>
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<!-- Gazebo plugin for RpLidar A2 -->
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<!-- <gazebo reference="laser">
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<sensor type="ray" name="rplidar_sensor">
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<pose>0 0 0.06 0 0 0</pose>
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<visualize>true</visualize>
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<update_rate>10</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</resolution>
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<min_angle>-3.14159265</min_angle>
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<max_angle>3.14159265</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.24</min>
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<max>10.0</max>
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<resolution>0.01</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="rplidar_ros_controller" filename="libgazebo_ros_laser.so">
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<topicName>scan</topicName>
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<frameName>laser</frameName>
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</plugin>
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</sensor>
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</gazebo> -->
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<!-- Gazebo plugin for Kinect v2 -->
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<gazebo reference="kinect2_head_frame">
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<sensor type="depth" name="kinect2_depth_sensor" >
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<always_on>true</always_on>
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<update_rate>10.0</update_rate>
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<camera name="kinect2_depth_sensor">
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<horizontal_fov>1.221730456</horizontal_fov>
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<image>
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<width>512</width>
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<height>424</height>
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<format>B8G8R8</format>
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</image>
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<clip>
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<near>0.5</near>
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<far>6.0</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.1</mean>
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<stddev>0.07</stddev>
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</noise>
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</camera>
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<plugin name="kinect2_depth_control" filename="libgazebo_ros_openni_kinect.so">
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<cameraName>kinect2/sd</cameraName>
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<alwaysOn>true</alwaysOn>
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<updateRate>20.0</updateRate>
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<imageTopicName>image_ir_rect</imageTopicName>
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<depthImageTopicName>image_depth_rect</depthImageTopicName>
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<pointCloudTopicName>points</pointCloudTopicName>
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<cameraInfoTopicName>depth_camera_info</cameraInfoTopicName>
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<frameName>kinect2_ir_optical_frame</frameName>
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<pointCloudCutoff>0.5</pointCloudCutoff>
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<pointCloudCutoffMax>6.0</pointCloudCutoffMax>
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<baseline>0.1</baseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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</plugin>
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</sensor>
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</gazebo>
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<gazebo reference="kinect2_rgb_optical_frame">
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<sensor type="camera" name="kinect2_rgb_sensor">
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<always_on>true</always_on>
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<update_rate>20.0</update_rate>
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<camera name="kinect2_rgb_sensor">
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<horizontal_fov>1.221730456</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>0.2</near>
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<far>10.0</far>
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</clip>
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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>0.007</stddev>
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</noise>
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</camera>
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<plugin name="kinect2_rgb_controller" filename="libgazebo_ros_camera.so">
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<alwaysOn>true</alwaysOn>
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<update_rate>20.0</update_rate>
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<cameraName>kinect2/hd</cameraName>
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<imageTopicName>image_color_rect</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>kinect2_rgb_optical_frame</frameName>
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<baseline>0.1</baseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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</plugin>
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</sensor>
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</gazebo>
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<gazebo reference="kinect2_head_frame">
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<sensor type="camera" name="kinect2_qhd_rgb_sensor">
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<always_on>true</always_on>
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<update_rate>20.0</update_rate>
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<camera name="kinect2_qhd_rgb_sensor">
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<horizontal_fov>1.221730456</horizontal_fov>
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<image>
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<width>960</width>
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<height>540</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.2</near>
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<far>10.0</far>
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</clip>
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</camera>
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<plugin name="kinect2_qhd_rgb_controller" filename="libgazebo_ros_camera.so">
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<alwaysOn>true</alwaysOn>
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<update_rate>20.0</update_rate>
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<cameraName>kinect2/qhd</cameraName>
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<imageTopicName>image_color_rect</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>kinect2_head_frame</frameName>
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<baseline>0.1</baseline>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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</plugin>
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</sensor>
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</gazebo>
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<!-- IMU plugin for 'body_link' -->
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<gazebo reference="body_link">
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<gravity>true</gravity>
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<sensor name="imu_sensor" type="imu">
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<always_on>true</always_on>
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<update_rate>100</update_rate>
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<visualize>true</visualize>
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<topic>__default_topic__</topic>
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<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
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<topicName>imu/data</topicName>
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<bodyName>body_link</bodyName>
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<updateRateHZ>100.0</updateRateHZ>
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<gaussianNoise>0.0</gaussianNoise>
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<xyzOffset>0 0 0</xyzOffset>
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<rpyOffset>0 0 0</rpyOffset>
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<frameName>imu_link</frameName>
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</plugin>
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<pose>0 0 0 0 0 0</pose>
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</sensor>
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</gazebo>
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</robot>
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