add apm

Controllers/Packages/cititruck_description/urdf/include/cititruck.gazebo

@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+<robot  xmlns:xacro="http://ros.org/wiki/xacro">
+  
+  <!-- Arguments used in cititruck.gazebo -->
+  <xacro:arg name="controller_prefix" default=""/>
+  <xacro:arg name="sensor_prefix" default=""/>
+  <xacro:arg name="sick_name" default="safety"/>
+  <xacro:arg name="ls2000_name" default="nav"/>   
+  <xacro:arg name="kinect2_name" default=""/>
+  <xacro:arg name="kinect1_name" default="kinect"/>
+  <xacro:arg name="use_gpu" default="true"/>
+
+  <!-- ros_control plugin -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+     <robotNamespace>/cititruck</robotNamespace>
+    </plugin>
+  </gazebo>
+
+  <gazebo>
+    <plugin name="steer_drive_controller" filename="libgazebo_ros_steer_drive.so">
+      <legacyMode>false</legacyMode>
+      <alwaysOn>true</alwaysOn>
+      <updateRate>100</updateRate>
+      <steerJoint>base2steer_joint</steerJoint>
+      <driveJoint>steer2sd_wheel_joint</driveJoint>
+      <fixedWheelLeftJoint>base2fixed_left_wheel_joint</fixedWheelLeftJoint>
+      <fixedWheelRightJoint>base2fixed_right_wheel_joint</fixedWheelRightJoint>
+
+      <wheelDiameter>0.16</wheelDiameter>
+      <steeringFixWheelDistanceX>1.190</steeringFixWheelDistanceX>
+      <steeringFixWheelDistanceY>0.0</steeringFixWheelDistanceY>
+      
+      <steerTorque>1000</steerTorque>
+      <driveTorque>1000</driveTorque>
+
+      <commandTopic>$(arg controller_prefix)cmd_vel</commandTopic>
+      <odometryTopic>odom</odometryTopic>
+      <odometryFrame>/world</odometryFrame>
+      <robotBaseFrame>base_footprint</robotBaseFrame>
+
+      <odomEncSteeringAngleOffset>0.01</odomEncSteeringAngleOffset>
+ 
+      <!--odometrySource>encoder</odometrySource-->
+      
+      <publishWheelJointState>true</publishWheelJointState>
+    </plugin>
+  </gazebo>
+
+  <gazebo reference="base_link" >
+    <material>Gazebo/Red</material>
+  </gazebo>
+
+  <gazebo reference="left_fork" >
+    <material>Gazebo/Grey</material>
+  </gazebo>
+
+  <gazebo reference="right_fork" >
+    <material>Gazebo/Grey</material>
+  </gazebo>
+
+  <gazebo reference="fixed_left_wheel_link" >
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+  <gazebo reference="fixed_right_wheel_link" >
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+  <gazebo reference="steerdrive_wheel_link" >
+    <material>Gazebo/Black</material>
+  </gazebo>
+     
+</robot>