cmp

<?xml version="1.0"?>
<robot name="r2d2">
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.6" radius="0.2"/>
      </geometry>
      <material name="blue">
        <color rgba="0 0 .8 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.6" radius="0.2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <gazebo reference="base_link">
     <material>Gazebo/Blue</material>
  </gazebo>

  <link name="base_footprint">
    <visual>
      <geometry>
         <box size="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </visual>
    <!--<inertial>
      <mass value="0.0001"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>-->
  </link>

  <gazebo reference="base_footprint">
    <material>Gazebo/Blue</material>
  </gazebo>
  <joint name="base_footprint_joint" type="fixed">
     <origin xyz="0 0 0" />
     <parent link="base_footprint" />
     <child link="base_link" />
  </joint>

  <link name="right_leg">
    <visual>
      <geometry>
        <box size="0.6 .2 .1"/>
      </geometry>
      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size="0.6 .2 .1"/>
      </geometry>
      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="base_to_right_leg" type="fixed">
    <parent link="base_link"/>
    <child link="right_leg"/>
    <origin xyz="0.22 0 .25"/>
  </joint>

  <link name="right_base">
    <visual>
      <geometry>
        <box size=".1 0.4 .1"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <box size=".1 0.4 .1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="right_base_joint" type="fixed">
    <parent link="right_leg"/>
    <child link="right_base"/>
    <origin xyz="0 0 -0.6"/>
  </joint>

  <link name="right_front_wheel">
    <visual>
      <geometry>
        <cylinder length=".1" radius="0.035"/>
      </geometry>
      <material name="black">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius="0.035"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="right_front_wheel">
     <material>Gazebo/Black</material>
  </gazebo>

  <joint name="right_front_wheel_joint" type="continuous">
    <axis xyz="0 0 -1"/>
    <parent link="right_base"/>
    <child link="right_front_wheel"/>
    <origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="right_back_wheel">
    <visual>
      <geometry>
        <cylinder length=".1" radius="0.035"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius="0.035"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="right_back_wheel">
     <material>Gazebo/Black</material>
  </gazebo>

  <joint name="right_back_wheel_joint" type="continuous">
    <axis xyz="0 0 -1"/>
    <parent link="right_base"/>
    <child link="right_back_wheel"/>
    <origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="left_leg">
    <visual>
      <geometry>
        <box size="0.6 .2 .1"/>
      </geometry>
      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.6 .2 .1"/>
      </geometry>
      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="base_to_left_leg" type="fixed">
    <parent link="base_link"/>
    <child link="left_leg"/>
    <origin xyz="-0.22 0 .25"/>
  </joint>

  <link name="left_base">
    <visual>
      <geometry>
        <box size=".1 0.4 .1"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <box size=".1 0.4 .1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="left_base_joint" type="fixed">
    <parent link="left_leg"/>
    <child link="left_base"/>
    <origin xyz="0 0 -0.6"/>
  </joint>

  <link name="left_front_wheel">
    <visual>
      <geometry>
        <cylinder length=".1" radius="0.035"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius="0.035"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="left_front_wheel">
     <material>Gazebo/Black</material>
  </gazebo>

  <joint name="left_front_wheel_joint" type="continuous">
    <axis xyz="0 0 -1"/>
    <parent link="left_base"/>
    <child link="left_front_wheel"/>
    <origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="left_back_wheel">
    <visual>
      <geometry>
        <cylinder length=".1" radius="0.035"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius="0.035"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="left_back_wheel">
     <material>Gazebo/Black</material>
  </gazebo>

  <joint name="left_back_wheel_joint" type="continuous">
    <axis xyz="0 0 -1"/>
    <parent link="left_base"/>
    <child link="left_back_wheel"/>
    <origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <joint name="gripper_extension" type="prismatic">
    <parent link="base_link"/>
    <child link="gripper_pole"/>
    <limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
    <origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
  </joint>

  <link name="gripper_pole">
    <visual>
      <geometry>
        <cylinder length="0.2" radius=".01"/>
      </geometry>
      <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
      <material name="Gray">
        <color rgba=".7 .7 .7 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.2" radius=".01"/>
      </geometry>
      <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="gripper_pole">
     <material>Gazebo/Black</material>
  </gazebo>

  <joint name="left_gripper_joint" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
    <origin rpy="0 0 0" xyz="0.2 0.01 0"/>
    <parent link="gripper_pole"/>
    <child link="left_gripper"/>
  </joint>

  <link name="left_gripper">
    <visual>
      <origin rpy="0.0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://r2d2_description/meshes/l_finger.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://r2d2_description/meshes/l_finger.dae"/>
      </geometry>
      <origin rpy="0.0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="left_tip_joint" type="fixed">
    <parent link="left_gripper"/>
    <child link="left_tip"/>
  </joint>

  <link name="left_tip">
    <visual>
      <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
      <geometry>
        <mesh filename="package://r2d2_description/meshes/l_finger_tip.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://r2d2_description/meshes/l_finger_tip.dae"/>
      </geometry>
      <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="right_gripper_joint" type="revolute">
    <axis xyz="0 0 -1"/>
    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
    <origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
    <parent link="gripper_pole"/>
    <child link="right_gripper"/>
  </joint>

  <link name="right_gripper">
    <visual>
      <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://r2d2_description/meshes/l_finger.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://r2d2_description/meshes/l_finger.dae"/>
      </geometry>
      <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="right_tip_joint" type="fixed">
    <parent link="right_gripper"/>
    <child link="right_tip"/>
  </joint>

  <link name="right_tip">
    <visual>
      <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
      <geometry>
        <mesh filename="package://r2d2_description/meshes/l_finger_tip.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://r2d2_description/meshes/l_finger_tip.dae"/>
      </geometry>
      <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <link name="head">
    <visual>
      <geometry>
        <sphere radius="0.2"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="head_swivel" type="fixed">
    <parent link="base_link"/>
    <child link="head"/>
    <axis xyz="0 0 1"/>
    <origin xyz="0 0 0.3"/>
  </joint>

  <link name="box">
    <visual>
      <geometry>
        <box size=".08 .08 .08"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <box size=".08 .08 .08"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="box">
     <material>Gazebo/Blue</material>
  </gazebo>

  <joint name="tobox" type="fixed">
    <parent link="head"/>
    <child link="box"/>
    <origin xyz="0 0.1414 0.1414"/>
  </joint>

  <!-- Hokuyo Laser -->
  <link name="hokuyo_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
         <box size="0.1 0.1 0.1"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://r2d2_description/meshes/hokuyo.dae"/>
      </geometry>
    </visual>

    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>

  <joint name="hokuyo_joint" type="fixed">
    <axis xyz="0 0 1" />
    <origin xyz="0 0.22 0.05" rpy="0 0 1.570796"/>
    <parent link="head"/>
    <child link="hokuyo_link"/>
  </joint>

  <gazebo reference="hokuyo_link">
    <sensor type="ray" name="laser">
      <pose>0 0 0 0 0 0</pose>
      <visualize>true</visualize>
      <update_rate>40</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>1</resolution>
            <min_angle>-2.26889</min_angle>
            <max_angle>2.2689</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>-->
          <!-- Noise parameters based on published spec for Hokuyo laser
               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
               stddev of 0.01m will put 99.7% of samples within 0.03m of the true reading. -->
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
        <topicName>base_scan</topicName>
        <frameName>hokuyo_link</frameName>
      </plugin>
    </sensor>
  </gazebo>
<!--
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
    <updateRate>100.0</updateRate>
    <robotNamespace>/</robotNamespace>
<rosDebugLevel>Debug</rosDebugLevel>
    <leftFrontJoint>left_front_wheel_joint</leftFrontJoint>
      <rightFrontJoint>right_front_wheel_joint</rightFrontJoint>
      <leftRearJoint>left_back_wheel_joint</leftRearJoint>
      <rightRearJoint>right_back_wheel_joint</rightRearJoint>
      <wheelSeparation>0.4</wheelSeparation>
      <wheelDiameter>0.07</wheelDiameter>
      <robotBaseFrame>base_footprint</robotBaseFrame>
      <torque>10</torque>
    <topicName>cmd_vel</topicName>
    <broadcastTF>false</broadcastTF>
  </plugin>
-->
<gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>100.0</updateRate>
      <leftFrontJoint>left_front_wheel_joint</leftFrontJoint>
      <rightFrontJoint>right_front_wheel_joint</rightFrontJoint>
      <leftRearJoint>left_back_wheel_joint</leftRearJoint>
      <rightRearJoint>right_back_wheel_joint</rightRearJoint>
      <wheelSeparation>0.4</wheelSeparation>
      <wheelDiameter>0.07</wheelDiameter>
      <torque>10</torque>
      <commandTopic>cmd_vel</commandTopic>
      <topicName>cmd_vel</topicName>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <robotBaseFrame>base_footprint</robotBaseFrame>
      <broadcastTF>false</broadcastTF>
  </plugin>
</gazebo>

</robot>