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HiepLM
2026-05-28 10:29:58 +07:00
commit 167c52aeb6
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mir_robot/mir_description/urdf/include/mir.gazebo.xacro Executable file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="diff_controller_plugin_gazebo" params="prefix left_wheel_joint right_wheel_joint wheel_separation wheel_radius">
<gazebo>
<plugin name="diff_drive_controller" filename="libgazebo_ros_diff_drive.so">
<legacyMode>false</legacyMode>
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
<leftJoint>${left_wheel_joint}</leftJoint>
<rightJoint>${right_wheel_joint}</rightJoint>
<wheelSeparation>${wheel_separation}</wheelSeparation>
<wheelDiameter>${2*wheel_radius}</wheelDiameter>
<wheelTorque>10</wheelTorque>
<publishTf>1</publishTf>
<odometryFrame>map</odometryFrame>
<commandTopic>mobile_base_controller/cmd_vel</commandTopic>
<odometryTopic>mobile_base_controller/odom</odometryTopic>
<robotBaseFrame>base_footprint</robotBaseFrame>
<wheelAcceleration>2.8</wheelAcceleration>
<publishWheelJointState>true</publishWheelJointState>
<publishWheelTF>false</publishWheelTF>
<odometrySource>world</odometrySource>
<rosDebugLevel>Debug</rosDebugLevel>
</plugin>
</gazebo>
</xacro:macro>
<xacro:macro name="set_wheel_friction" params="link friction">
<gazebo reference="${link}">
<mu1 value="${friction}"/>
<mu2 value="${friction}"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<minDepth>0.01</minDepth>
</gazebo>
</xacro:macro>
<xacro:macro name="set_all_wheel_frictions" params="prefix">
<xacro:set_wheel_friction link="${prefix}left_wheel_link" friction="200"/>
<xacro:set_wheel_friction link="${prefix}right_wheel_link" friction="200"/>
<xacro:set_wheel_friction link="${prefix}fl_caster_wheel_link" friction="1"/>
<xacro:set_wheel_friction link="${prefix}fr_caster_wheel_link" friction="1"/>
<xacro:set_wheel_friction link="${prefix}bl_caster_wheel_link" friction="1"/>
<xacro:set_wheel_friction link="${prefix}br_caster_wheel_link" friction="1"/>
</xacro:macro>
<xacro:macro name="p3d_base_controller" params="prefix">
<gazebo>
<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>50.0</updateRate>
<bodyName>${prefix}base_footprint</bodyName>
<topicName>base_pose_ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>map</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>
</xacro:macro>
</robot>