git commit -m "first commit"
This commit is contained in:
BIN
simulators/sim_env/urdf/pictures/frames/burger_frames.pdf
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simulators/sim_env/urdf/pictures/frames/burger_frames.pdf
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simulators/sim_env/urdf/pictures/frames/waffle_frames.pdf
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simulators/sim_env/urdf/pictures/frames/waffle_frames.pdf
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simulators/sim_env/urdf/pictures/frames/waffle_pi_frames.pdf
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simulators/sim_env/urdf/pictures/frames/waffle_pi_frames.pdf
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simulators/sim_env/urdf/pictures/frames/xbot_frames.pdf
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simulators/sim_env/urdf/pictures/frames/xbot_frames.pdf
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simulators/sim_env/urdf/pictures/turtlebot3_burger.jpg
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simulators/sim_env/urdf/pictures/turtlebot3_burger.jpg
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simulators/sim_env/urdf/pictures/turtlebot3_waffle.jpg
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simulators/sim_env/urdf/pictures/turtlebot3_waffle.jpg
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simulators/sim_env/urdf/pictures/turtlebot3_waffle_pi.jpg
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simulators/sim_env/urdf/pictures/turtlebot3_waffle_pi.jpg
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simulators/sim_env/urdf/turtlebot3_burger/common_properties.xacro
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simulators/sim_env/urdf/turtlebot3_burger/common_properties.xacro
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|
||||
<?xml version="1.0" ?>
|
||||
|
||||
<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<!-- Init colour -->
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="dark">
|
||||
<color rgba="0.3 0.3 0.3 1.0"/>
|
||||
</material>
|
||||
<material name="light_black">
|
||||
<color rgba="0.4 0.4 0.4 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="grey">
|
||||
<color rgba="0.5 0.5 0.5 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="orange">
|
||||
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="brown">
|
||||
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
</robot>
|
||||
135
simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.gazebo.xacro
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simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.gazebo.xacro
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|
||||
<?xml version="1.0"?>
|
||||
<robot name="turtlebot3_burger_sim" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:arg name="laser_visual" default="false"/>
|
||||
<xacro:arg name="imu_visual" default="false"/>
|
||||
|
||||
<gazebo reference="base_link">
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="wheel_left_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>500000.0</kp>
|
||||
<kd>10.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>0.1</maxVel>
|
||||
<fdir1>1 0 0</fdir1>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="wheel_right_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>500000.0</kp>
|
||||
<kd>10.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>0.1</maxVel>
|
||||
<fdir1>1 0 0</fdir1>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="caster_back_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>1000000.0</kp>
|
||||
<kd>100.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>1.0</maxVel>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="imu_link">
|
||||
<sensor type="imu" name="imu">
|
||||
<always_on>true</always_on>
|
||||
<visualize>$(arg imu_visual)</visualize>
|
||||
</sensor>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo>
|
||||
<plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
|
||||
<commandTopic>cmd_vel</commandTopic>
|
||||
<odometryTopic>odom</odometryTopic>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
<odometrySource>world</odometrySource>
|
||||
<publishOdomTF>true</publishOdomTF>
|
||||
<robotBaseFrame>base_footprint</robotBaseFrame>
|
||||
<publishWheelTF>false</publishWheelTF>
|
||||
<publishTf>true</publishTf>
|
||||
<publishWheelJointState>false</publishWheelJointState>
|
||||
<legacyMode>false</legacyMode>
|
||||
<updateRate>30</updateRate>
|
||||
<leftJoint>wheel_left_joint</leftJoint>
|
||||
<rightJoint>wheel_right_joint</rightJoint>
|
||||
<wheelSeparation>0.160</wheelSeparation>
|
||||
<wheelDiameter>0.066</wheelDiameter>
|
||||
<wheelAcceleration>1</wheelAcceleration>
|
||||
<wheelTorque>10</wheelTorque>
|
||||
<rosDebugLevel>na</rosDebugLevel>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<gazebo>
|
||||
<plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<bodyName>imu_link</bodyName>
|
||||
<frameName>imu_link</frameName>
|
||||
<topicName>imu</topicName>
|
||||
<serviceName>imu_service</serviceName>
|
||||
<gaussianNoise>0.0</gaussianNoise>
|
||||
<updateRate>0</updateRate>
|
||||
<imu>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<rate>
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
<bias_mean>0.0000075</bias_mean>
|
||||
<bias_stddev>0.0000008</bias_stddev>
|
||||
</rate>
|
||||
<accel>
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
<bias_mean>0.1</bias_mean>
|
||||
<bias_stddev>0.001</bias_stddev>
|
||||
</accel>
|
||||
</noise>
|
||||
</imu>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="base_scan">
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
<sensor type="ray" name="lds_lfcd_sensor">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<visualize>$(arg laser_visual)</visualize>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>0.0</min_angle>
|
||||
<max_angle>6.28319</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
|
||||
<topicName>scan</topicName>
|
||||
<frameName>base_scan</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
163
simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.urdf.xacro
Executable file
163
simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.urdf.xacro
Executable file
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|
||||
<?xml version="1.0" ?>
|
||||
<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint"/>
|
||||
<child link="base_link"/>
|
||||
<origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://sim_env/meshes/turtlebot3/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="light_black"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.140 0.140 0.143"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="8.2573504e-01"/>
|
||||
<inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
|
||||
iyy="2.1193702e-03" iyz="-5.0120904e-06"
|
||||
izz="2.0064271e-03" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="wheel_left_joint" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="wheel_left_link"/>
|
||||
<origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://sim_env/meshes/turtlebot3/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.018" radius="0.033"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="2.8498940e-02" />
|
||||
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
|
||||
iyy="1.1192413e-05" iyz="-1.4400107e-11"
|
||||
izz="2.0712558e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="wheel_right_joint" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="wheel_right_link"/>
|
||||
<origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://sim_env/meshes/turtlebot3/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.018" radius="0.033"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="2.8498940e-02" />
|
||||
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
|
||||
iyy="1.1192413e-05" iyz="-1.4400107e-11"
|
||||
izz="2.0712558e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="caster_back_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="caster_back_link"/>
|
||||
<origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="caster_back_link">
|
||||
<collision>
|
||||
<origin xyz="0 0.001 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.030 0.009 0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="0.005" />
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="imu_link"/>
|
||||
<origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="imu_link"/>
|
||||
|
||||
<joint name="scan_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="base_scan"/>
|
||||
<origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="base_scan">
|
||||
<visual>
|
||||
<origin xyz="0 0 0.0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://sim_env/meshes/turtlebot3/sensors/lds.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.0315" radius="0.055"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.114" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
8
simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.xacro
Executable file
8
simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.xacro
Executable file
@@ -0,0 +1,8 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find sim_env)/urdf/turtlebot3_burger/common_properties.xacro"/>
|
||||
<xacro:include filename="$(find sim_env)/urdf/turtlebot3_burger/turtlebot3_burger.gazebo.xacro"/>
|
||||
<xacro:include filename="$(find sim_env)/urdf/turtlebot3_burger/turtlebot3_burger.urdf.xacro"/>
|
||||
|
||||
</robot>
|
||||
44
simulators/sim_env/urdf/turtlebot3_waffle/common_properties.xacro
Executable file
44
simulators/sim_env/urdf/turtlebot3_waffle/common_properties.xacro
Executable file
@@ -0,0 +1,44 @@
|
||||
<?xml version="1.0" ?>
|
||||
|
||||
<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<!-- Init colour -->
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="dark">
|
||||
<color rgba="0.3 0.3 0.3 1.0"/>
|
||||
</material>
|
||||
<material name="light_black">
|
||||
<color rgba="0.4 0.4 0.4 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="grey">
|
||||
<color rgba="0.5 0.5 0.5 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="orange">
|
||||
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="brown">
|
||||
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
</robot>
|
||||
190
simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.gazebo.xacro
Executable file
190
simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.gazebo.xacro
Executable file
@@ -0,0 +1,190 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="turtlebot3_waffle_sim" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:arg name="laser_visual" default="false"/>
|
||||
<xacro:arg name="camera_visual" default="false"/>
|
||||
<xacro:arg name="imu_visual" default="false"/>
|
||||
|
||||
<gazebo reference="base_link">
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="wheel_left_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>500000.0</kp>
|
||||
<kd>10.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>0.1</maxVel>
|
||||
<fdir1>1 0 0</fdir1>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="wheel_right_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>500000.0</kp>
|
||||
<kd>10.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>0.1</maxVel>
|
||||
<fdir1>1 0 0</fdir1>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="caster_back_right_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>1000000.0</kp>
|
||||
<kd>100.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>1.0</maxVel>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="caster_back_left_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>1000000.0</kp>
|
||||
<kd>100.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>1.0</maxVel>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="imu_link">
|
||||
<sensor type="imu" name="imu">
|
||||
<always_on>true</always_on>
|
||||
<visualize>$(arg imu_visual)</visualize>
|
||||
</sensor>
|
||||
<material>Gazebo/Grey</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo>
|
||||
<plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so">
|
||||
<commandTopic>cmd_vel</commandTopic>
|
||||
<odometryTopic>odom</odometryTopic>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
<odometrySource>world</odometrySource>
|
||||
<publishOdomTF>true</publishOdomTF>
|
||||
<robotBaseFrame>base_footprint</robotBaseFrame>
|
||||
<publishWheelTF>false</publishWheelTF>
|
||||
<publishTf>true</publishTf>
|
||||
<publishWheelJointState>false</publishWheelJointState>
|
||||
<legacyMode>false</legacyMode>
|
||||
<updateRate>30</updateRate>
|
||||
<leftJoint>wheel_left_joint</leftJoint>
|
||||
<rightJoint>wheel_right_joint</rightJoint>
|
||||
<wheelSeparation>0.287</wheelSeparation>
|
||||
<wheelDiameter>0.066</wheelDiameter>
|
||||
<wheelAcceleration>1</wheelAcceleration>
|
||||
<wheelTorque>10</wheelTorque>
|
||||
<rosDebugLevel>na</rosDebugLevel>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<gazebo>
|
||||
<plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<bodyName>imu_link</bodyName>
|
||||
<frameName>imu_link</frameName>
|
||||
<topicName>imu</topicName>
|
||||
<serviceName>imu_service</serviceName>
|
||||
<gaussianNoise>0.0</gaussianNoise>
|
||||
<updateRate>0</updateRate>
|
||||
<imu>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<rate>
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
<bias_mean>0.0000075</bias_mean>
|
||||
<bias_stddev>0.0000008</bias_stddev>
|
||||
</rate>
|
||||
<accel>
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
<bias_mean>0.1</bias_mean>
|
||||
<bias_stddev>0.001</bias_stddev>
|
||||
</accel>
|
||||
</noise>
|
||||
</imu>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="base_scan">
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
<sensor type="ray" name="lds_lfcd_sensor">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<visualize>$(arg laser_visual)</visualize>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>0.0</min_angle>
|
||||
<max_angle>6.28319</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
|
||||
<topicName>scan</topicName>
|
||||
<frameName>base_scan</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="camera_rgb_frame">
|
||||
<sensor type="depth" name="realsense_R200">
|
||||
<always_on>true</always_on>
|
||||
<visualize>$(arg camera_visual)</visualize>
|
||||
<camera>
|
||||
<horizontal_fov>1.3439</horizontal_fov>
|
||||
<image>
|
||||
<width>1920</width>
|
||||
<height>1080</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<depth_camera></depth_camera>
|
||||
<clip>
|
||||
<near>0.03</near>
|
||||
<far>100</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
|
||||
<baseline>0.2</baseline>
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>30.0</updateRate>
|
||||
<cameraName>camera</cameraName>
|
||||
<frameName>camera_rgb_optical_frame</frameName>
|
||||
<imageTopicName>rgb/image_raw</imageTopicName>
|
||||
<depthImageTopicName>depth/image_raw</depthImageTopicName>
|
||||
<pointCloudTopicName>depth/points</pointCloudTopicName>
|
||||
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
|
||||
<depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
|
||||
<pointCloudCutoff>0.4</pointCloudCutoff>
|
||||
<hackBaseline>0.07</hackBaseline>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
<CxPrime>0.0</CxPrime>
|
||||
<Cx>0.0</Cx>
|
||||
<Cy>0.0</Cy>
|
||||
<focalLength>0</focalLength>
|
||||
<hackBaseline>0</hackBaseline>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
249
simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.urdf.xacro
Executable file
249
simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.urdf.xacro
Executable file
@@ -0,0 +1,249 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<xacro:property name="r200_cam_rgb_px" value="0.005"/>
|
||||
<xacro:property name="r200_cam_rgb_py" value="0.018"/>
|
||||
<xacro:property name="r200_cam_rgb_pz" value="0.013"/>
|
||||
<xacro:property name="r200_cam_depth_offset" value="0.01"/>
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint"/>
|
||||
<child link="base_link" />
|
||||
<origin xyz="0 0 0.010" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://sim_env/meshes/turtlebot3/bases/waffle_base.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="light_black"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.266 0.266 0.094"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="1.3729096e+00"/>
|
||||
<inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
|
||||
iyy="8.6195418e-03" iyz="-3.5422299e-06"
|
||||
izz="1.4612727e-02" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="wheel_left_joint" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="wheel_left_link"/>
|
||||
<origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://sim_env/meshes/turtlebot3/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.018" radius="0.033"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="2.8498940e-02" />
|
||||
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
|
||||
iyy="1.1192413e-05" iyz="-1.4400107e-11"
|
||||
izz="2.0712558e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="wheel_right_joint" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="wheel_right_link"/>
|
||||
<origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://sim_env/meshes/turtlebot3/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.018" radius="0.033"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="2.8498940e-02" />
|
||||
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
|
||||
iyy="1.1192413e-05" iyz="-1.4400107e-11"
|
||||
izz="2.0712558e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="caster_back_right_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="caster_back_right_link"/>
|
||||
<origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="caster_back_right_link">
|
||||
<collision>
|
||||
<origin xyz="0 0.001 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.030 0.009 0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="0.005" />
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="caster_back_left_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="caster_back_left_link"/>
|
||||
<origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="caster_back_left_link">
|
||||
<collision>
|
||||
<origin xyz="0 0.001 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.030 0.009 0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="0.005" />
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="imu_link"/>
|
||||
<origin xyz="0.0 0 0.068" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="imu_link"/>
|
||||
|
||||
<joint name="scan_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="base_scan"/>
|
||||
<origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="base_scan">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://sim_env/meshes/turtlebot3/sensors/lds.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.0315" radius="0.055"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.114" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="camera_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="camera_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="1.57 0 1.57"/>
|
||||
<geometry>
|
||||
<mesh filename="package://sim_env/meshes/turtlebot3/sensors/r200.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.012 0.132 0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<!-- This inertial field needs doesn't contain reliable data!! -->
|
||||
<!-- <inertial>
|
||||
<mass value="0.564" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
|
||||
iyy="0.000498940" iyz="0.0"
|
||||
izz="0.003879257" />
|
||||
</inertial>-->
|
||||
</link>
|
||||
|
||||
<joint name="camera_rgb_joint" type="fixed">
|
||||
<origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/>
|
||||
<parent link="camera_link"/>
|
||||
<child link="camera_rgb_frame"/>
|
||||
</joint>
|
||||
<link name="camera_rgb_frame"/>
|
||||
|
||||
<joint name="camera_rgb_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
|
||||
<parent link="camera_rgb_frame"/>
|
||||
<child link="camera_rgb_optical_frame"/>
|
||||
</joint>
|
||||
<link name="camera_rgb_optical_frame"/>
|
||||
|
||||
<joint name="camera_depth_joint" type="fixed">
|
||||
<origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/>
|
||||
<parent link="camera_link"/>
|
||||
<child link="camera_depth_frame"/>
|
||||
</joint>
|
||||
<link name="camera_depth_frame"/>
|
||||
|
||||
<joint name="camera_depth_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
|
||||
<parent link="camera_depth_frame"/>
|
||||
<child link="camera_depth_optical_frame"/>
|
||||
</joint>
|
||||
<link name="camera_depth_optical_frame"/>
|
||||
|
||||
</robot>
|
||||
8
simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.xacro
Executable file
8
simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.xacro
Executable file
@@ -0,0 +1,8 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find sim_env)/urdf/turtlebot3_waffle/common_properties.xacro"/>
|
||||
<xacro:include filename="$(find sim_env)/urdf/turtlebot3_waffle/turtlebot3_waffle.gazebo.xacro"/>
|
||||
<xacro:include filename="$(find sim_env)/urdf/turtlebot3_waffle/turtlebot3_waffle.urdf.xacro"/>
|
||||
|
||||
</robot>
|
||||
44
simulators/sim_env/urdf/turtlebot3_waffle_pi/common_properties.xacro
Executable file
44
simulators/sim_env/urdf/turtlebot3_waffle_pi/common_properties.xacro
Executable file
@@ -0,0 +1,44 @@
|
||||
<?xml version="1.0" ?>
|
||||
|
||||
<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<!-- Init colour -->
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="dark">
|
||||
<color rgba="0.3 0.3 0.3 1.0"/>
|
||||
</material>
|
||||
<material name="light_black">
|
||||
<color rgba="0.4 0.4 0.4 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="grey">
|
||||
<color rgba="0.5 0.5 0.5 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="orange">
|
||||
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="brown">
|
||||
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
</robot>
|
||||
180
simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.gazebo.xacro
Executable file
180
simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.gazebo.xacro
Executable file
@@ -0,0 +1,180 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="turtlebot3_waffle_pi_sim" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:arg name="laser_visual" default="false"/>
|
||||
<xacro:arg name="camera_visual" default="false"/>
|
||||
<xacro:arg name="imu_visual" default="false"/>
|
||||
|
||||
<gazebo reference="base_link">
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="wheel_left_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>500000.0</kp>
|
||||
<kd>10.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>0.1</maxVel>
|
||||
<fdir1>1 0 0</fdir1>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="wheel_right_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>500000.0</kp>
|
||||
<kd>10.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>0.1</maxVel>
|
||||
<fdir1>1 0 0</fdir1>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="caster_back_right_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>1000000.0</kp>
|
||||
<kd>100.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>1.0</maxVel>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="caster_back_left_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>1000000.0</kp>
|
||||
<kd>100.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>1.0</maxVel>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="imu_link">
|
||||
<sensor type="imu" name="imu">
|
||||
<always_on>true</always_on>
|
||||
<visualize>$(arg imu_visual)</visualize>
|
||||
</sensor>
|
||||
<material>Gazebo/Grey</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo>
|
||||
<plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so">
|
||||
<commandTopic>cmd_vel</commandTopic>
|
||||
<odometryTopic>odom</odometryTopic>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
<odometrySource>world</odometrySource>
|
||||
<publishOdomTF>true</publishOdomTF>
|
||||
<robotBaseFrame>base_footprint</robotBaseFrame>
|
||||
<publishWheelTF>true</publishWheelTF>
|
||||
<publishTf>true</publishTf>
|
||||
<publishWheelJointState>true</publishWheelJointState>
|
||||
<legacyMode>false</legacyMode>
|
||||
<updateRate>30</updateRate>
|
||||
<leftJoint>wheel_left_joint</leftJoint>
|
||||
<rightJoint>wheel_right_joint</rightJoint>
|
||||
<wheelSeparation>0.287</wheelSeparation>
|
||||
<wheelDiameter>0.066</wheelDiameter>
|
||||
<wheelAcceleration>1</wheelAcceleration>
|
||||
<wheelTorque>10</wheelTorque>
|
||||
<rosDebugLevel>na</rosDebugLevel>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<gazebo>
|
||||
<plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<bodyName>imu_link</bodyName>
|
||||
<frameName>imu_link</frameName>
|
||||
<topicName>imu</topicName>
|
||||
<serviceName>imu_service</serviceName>
|
||||
<gaussianNoise>0.0</gaussianNoise>
|
||||
<updateRate>0</updateRate>
|
||||
<imu>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<rate>
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
<bias_mean>0.0000075</bias_mean>
|
||||
<bias_stddev>0.0000008</bias_stddev>
|
||||
</rate>
|
||||
<accel>
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
<bias_mean>0.1</bias_mean>
|
||||
<bias_stddev>0.001</bias_stddev>
|
||||
</accel>
|
||||
</noise>
|
||||
</imu>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="base_scan">
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
<sensor type="ray" name="lds_lfcd_sensor">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<visualize>$(arg laser_visual)</visualize>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>0.0</min_angle>
|
||||
<max_angle>6.28319</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
|
||||
<topicName>scan</topicName>
|
||||
<frameName>base_scan</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
<!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
|
||||
<gazebo reference="camera_rgb_frame">
|
||||
<sensor type="camera" name="Pi Camera">
|
||||
<always_on>true</always_on>
|
||||
<visualize>$(arg camera_visual)</visualize>
|
||||
<camera>
|
||||
<horizontal_fov>1.085595</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.03</near>
|
||||
<far>100</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>30.0</updateRate>
|
||||
<cameraName>camera</cameraName>
|
||||
<frameName>camera_rgb_optical_frame</frameName>
|
||||
<imageTopicName>rgb/image_raw</imageTopicName>
|
||||
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
|
||||
<hackBaseline>0.07</hackBaseline>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
215
simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.urdf.xacro
Executable file
215
simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.urdf.xacro
Executable file
@@ -0,0 +1,215 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint"/>
|
||||
<child link="base_link" />
|
||||
<origin xyz="0 0 0.010" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://sim_env/meshes/turtlebot3/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="light_black"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.266 0.266 0.094"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="1.3729096e+00"/>
|
||||
<inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
|
||||
iyy="8.6195418e-03" iyz="-3.5422299e-06"
|
||||
izz="1.4612727e-02" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="wheel_left_joint" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="wheel_left_link"/>
|
||||
<origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
|
||||
<link name="wheel_left_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://sim_env/meshes/turtlebot3/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.018" radius="0.033"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="2.8498940e-02" />
|
||||
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
|
||||
iyy="1.1192413e-05" iyz="-1.4400107e-11"
|
||||
izz="2.0712558e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="wheel_right_joint" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="wheel_right_link"/>
|
||||
<origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
|
||||
<link name="wheel_right_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://sim_env/meshes/turtlebot3/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.018" radius="0.033"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="2.8498940e-02" />
|
||||
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
|
||||
iyy="1.1192413e-05" iyz="-1.4400107e-11"
|
||||
izz="2.0712558e-05" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="caster_back_right_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="caster_back_right_link"/>
|
||||
<origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="caster_back_right_link">
|
||||
<collision>
|
||||
<origin xyz="0 0.001 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.030 0.009 0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="0.005" />
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="caster_back_left_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="caster_back_left_link"/>
|
||||
<origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="caster_back_left_link">
|
||||
<collision>
|
||||
<origin xyz="0 0.001 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.030 0.009 0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" />
|
||||
<mass value="0.005" />
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="imu_link"/>
|
||||
<origin xyz="0.0 0 0.068" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="imu_link"/>
|
||||
|
||||
<joint name="scan_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="base_scan"/>
|
||||
<origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="base_scan">
|
||||
<visual>
|
||||
<origin xyz="0 0 0.0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://sim_env/meshes/turtlebot3/sensors/lds.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.0315" radius="0.055"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.114" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="camera_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="camera_link">
|
||||
<collision>
|
||||
<origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.015 0.030 0.027"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="camera_rgb_joint" type="fixed">
|
||||
<origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
|
||||
<parent link="camera_link"/>
|
||||
<child link="camera_rgb_frame"/>
|
||||
</joint>
|
||||
<link name="camera_rgb_frame"/>
|
||||
|
||||
<joint name="camera_rgb_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
|
||||
<parent link="camera_rgb_frame"/>
|
||||
<child link="camera_rgb_optical_frame"/>
|
||||
</joint>
|
||||
<link name="camera_rgb_optical_frame"/>
|
||||
|
||||
</robot>
|
||||
8
simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.xacro
Executable file
8
simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.xacro
Executable file
@@ -0,0 +1,8 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find sim_env)/urdf/turtlebot3_waffle_pi/common_properties.xacro"/>
|
||||
<xacro:include filename="$(find sim_env)/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.gazebo.xacro"/>
|
||||
<xacro:include filename="$(find sim_env)/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.urdf.xacro"/>
|
||||
|
||||
</robot>
|
||||
Reference in New Issue
Block a user