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