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- <?xml version="1.0" ?>
- <sdf version="1.4">
- <model name="car">
- <link name="chassis">
- <pose>0 0 0.3 0 0 0</pose>
- <inertial>
- <!-- subtracted wheel weights from dry weight of 771 kg -->
- <!-- http://www.polaris.com/en-us/ranger-utv/side-by-sides/ranger-ev/specifications -->
- <mass>720.0</mass>
- <inertia>
- <ixx>140</ixx>
- <ixy>0.0</ixy><iyy>550</iyy>
- <ixz>0.0</ixz><iyz>0.0</iyz><izz>550</izz>
- </inertia>
- <!-- chassis c.o.g. near lateral/longitudinal center, height of 0.4 m -->
- <pose>0.1 0 0.4 0 0 0</pose>
- </inertial>
- <collision name="collision">
- <geometry>
- <box><size>2.0 1.0 0.2</size></box>
- </geometry>
- </collision>
- <visual name="visual">
- <geometry>
- <box><size>2.0 1.0 0.2</size></box>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Green</name>
- </script>
- </material>
- </visual>
- </link>
- <link name="front_left_wheel">
- <pose>0.8 0.6 0.3 0 1.5707 1.5707</pose>
- <collision name="collision">
- <geometry>
- <cylinder><radius>0.3</radius><length>0.1</length></cylinder>
- </geometry>
- </collision>
- <visual name="visual">
- <geometry>
- <cylinder><radius>0.3</radius><length>0.1</length></cylinder>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Black</name>
- </script>
- </material>
- </visual>
- </link>
- <link name="front_right_wheel">
- <pose>0.8 -0.6 0.3 0 1.5707 1.5707</pose>
- <collision name="collision">
- <geometry>
- <cylinder><radius>0.3</radius><length>0.1</length></cylinder>
- </geometry>
- </collision>
- <visual name="visual">
- <geometry>
- <cylinder><radius>0.3</radius><length>0.1</length></cylinder>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Black</name>
- </script>
- </material>
- </visual>
- </link>
- <link name="back_right_wheel">
- <pose>-0.8 -0.6 0.3 0 1.5707 1.5707</pose>
- <collision name="collision">
- <geometry>
- <cylinder><radius>0.3</radius><length>0.1</length></cylinder>
- </geometry>
- </collision>
- <visual name="visual">
- <geometry>
- <cylinder><radius>0.3</radius><length>0.1</length></cylinder>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Black</name>
- </script>
- </material>
- </visual>
- </link>
- <link name="back_left_wheel">
- <pose>-0.8 0.6 0.3 0 1.5707 1.5707</pose>
- <collision name="collision">
- <geometry>
- <cylinder><radius>0.3</radius><length>0.1</length></cylinder>
- </geometry>
- </collision>
- <visual name="visual">
- <geometry>
- <cylinder><radius>0.3</radius><length>0.1</length></cylinder>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Black</name>
- </script>
- </material>
- </visual>
- </link>
- <link name="gas_pedal">
- <pose>0.3 0.1 0.5 0 0 0</pose>
- <collision name="collision">
- <geometry>
- <box><size>0.1 0.1 0.1</size></box>
- </geometry>
- </collision>
- <visual name="visual">
- <geometry>
- <box><size>0.1 0.1 0.1</size></box>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Red</name>
- </script>
- </material>
- </visual>
- </link>
- <link name="brake_pedal">
- <pose>0.3 0.25 0.5 0 0 0</pose>
- <collision name="collision">
- <geometry>
- <box><size>0.1 0.1 0.1</size></box>
- </geometry>
- </collision>
- <visual name="visual">
- <geometry>
- <box><size>0.1 0.1 0.1</size></box>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Blue</name>
- </script>
- </material>
- </visual>
- </link>
- <link name="steering_wheel">
- <pose>0.3 0.2 1.0 0 1.5707 0</pose>
- <collision name="collision">
- <geometry>
- <cylinder><radius>0.1</radius><length>0.01</length></cylinder>
- </geometry>
- </collision>
- <visual name="visual">
- <geometry>
- <cylinder><radius>0.1</radius><length>0.01</length></cylinder>
- </geometry>
- <material>
- <script>
- <uri>file://media/materials/scripts/gazebo.material</uri>
- <name>Gazebo/Blue</name>
- </script>
- </material>
- </visual>
- </link>
- <joint type="prismatic" name="gas_joint">
- <parent>chassis</parent>
- <child>gas_pedal</child>
- <axis>
- <xyz>1 0 0</xyz>
- <limit><lower>0</lower><upper>0.2</upper></limit>
- </axis>
- </joint>
- <joint type="prismatic" name="brake_joint">
- <parent>chassis</parent>
- <child>brake_pedal</child>
- <axis>
- <xyz>1 0 0</xyz>
- <limit><lower>0</lower><upper>0.2</upper></limit>
- </axis>
- </joint>
- <joint type="revolute" name="steering_joint">
- <parent>chassis</parent>
- <child>steering_wheel</child>
- <axis>
- <xyz>1 0 0</xyz>
- <limit><lower>-7.853</lower><upper>7.853</upper></limit>
- </axis>
- </joint>
- <joint type="revolute2" name="front_left_joint">
- <parent>chassis</parent>
- <child>front_left_wheel</child>
- <axis>
- <xyz>0 0 1</xyz>
- <limit>
- <lower>0</lower>
- <upper>0</upper>
- </limit>
- </axis>
- <axis2>
- <xyz>0 1 0</xyz>
- </axis2>
- <physics>
- <ode>
- <limit><cfm>0.0</cfm><erp>0.9</erp></limit>
- </ode>
- </physics>
- </joint>
- <joint type="revolute2" name="front_right_joint">
- <parent>chassis</parent>
- <child>front_right_wheel</child>
- <axis><xyz>0 0 1</xyz>
- <limit><lower>0</lower><upper>0</upper></limit>
- </axis>
- <axis2>
- <xyz>0 1 0</xyz>
- </axis2>
- <physics>
- <ode>
- <limit><cfm>0.0</cfm><erp>0.9</erp></limit>
- </ode>
- </physics>
- </joint>
- <joint type="revolute2" name="back_right_joint">
- <parent>chassis</parent>
- <child>back_right_wheel</child>
- <axis><xyz>0 0 1</xyz>
- <limit><lower>0</lower><upper>0</upper></limit>
- </axis>
- <axis2>
- <xyz>0 1 0</xyz>
- </axis2>
- <physics>
- <ode>
- <limit><cfm>0.0</cfm><erp>0.9</erp></limit>
- </ode>
- </physics>
- </joint>
- <joint type="revolute2" name="back_left_joint">
- <parent>chassis</parent>
- <child>back_left_wheel</child>
- <axis><xyz>0 0 1</xyz>
- <limit><lower>0</lower><upper>0</upper></limit>
- </axis>
- <axis2>
- <xyz>0 1 0</xyz>
- </axis2>
- <physics>
- <ode>
- <limit><cfm>0.0</cfm><erp>0.9</erp></limit>
- </ode>
- </physics>
- </joint>
- <plugin filename="libVehiclePlugin.so" name="vehicle">
- <!-- Joints for each wheel -->
- <front_left>front_left_joint</front_left>
- <front_right>front_right_joint</front_right>
- <back_left>back_left_joint</back_left>
- <back_right>back_right_joint</back_right>
- <!-- Joint which controls the gas -->
- <gas>gas_joint</gas>
- <!-- Joint which controls the gas -->
- <brake>brake_joint</brake>
- <!-- Joint which controls the steering -->
- <steering>steering_joint</steering>
- <!-- Power is multiplied by "gas" to determine force applied to wheels -->
- <front_power>10</front_power>
- <rear_power>10</rear_power>
- <!-- The angle range the front tires can turn for steering, in radians -->
- <tire_angle_range>0.5</tire_angle_range>
- <!-- Maximum speed for the car in meters/second -->
- <max_speed>10</max_speed>
- <!-- Factor for the down-force applied as the car travels faster -->
- <!-- A larger number increases the down force -->
- <aero_load>0.1</aero_load>
- </plugin>
- </model>
- </sdf>
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