model_ddrcustom.urdf

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from diff_wheeled_robot.xacro       | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="differential_wheeled_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- Wheels -->
  <!-- in kg-->
  <!-- Defining the colors used in this robot -->
  <material name="Black">
    <color rgba="0.0 0.0 0.0 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>
  <material name="Blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <!-- PROPERTY LIST -->
  <!--All units in m-kg-s-radians unit system -->
  <!-- Main body radius and height -->
  <!-- Main Body Cylinder base   -->
  <!-- in kg-->
  <!-- caster wheel radius and height -->
  <!-- caster wheel mass -->
  <!-- in kg-->
  <!-- caster wheel radius and height -->
  <!-- caster wheel mass -->
  <!-- in kg-->
  <!-- Wheels -->
   --&gt;
  <!-- in kg-->
  <!-- Hokuyo Laser scanner -->
  <!-- Macro for calculating inertia of cylinder -->
  <!-- BASE-FOOTPRINT -->
  <!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin -->
  <link name="base_footprint">
    <inertial>
      <mass value="0.0001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </visual>
  </link>
  <gazebo reference="base_footprint">
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <joint name="base_footprint_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.04"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>
  <!-- BASE-LINK -->
  <!--Actual body/chassis of the robot-->
  <link name="base_link">
    <inertial>
      <mass value="5"/>
      <origin xyz="0 0 0"/>
      <!--The 3x3 rotational inertia matrix. -->
      <inertia ixx="0.0282916666667" ixy="0" ixz="0" iyy="0.0282916666667" iyz="0" izz="0.05625"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.15"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin rpy="0 0 0 " xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.15"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="base_link">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <!--fb : front, back ; lr: left, right -->
  <link name="front_right_wheel">
    <visual>
      <origin rpy="1.57079632679 0  0 " xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.04"/>
      </geometry>
      <material name="Black"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0 " xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.04"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.5"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.00108333333333" ixy="0" ixz="0" iyy="0.00108333333333" iyz="0" izz="0.002"/>
    </inertial>
  </link>
  <gazebo reference="front_right_wheel">
    <mu1 value="1.0"/>
    <mu2 value="1.0"/>
    <kp value="10000000.0"/>
    <kd value="1.0"/>
    <fdir1 value="1 0 0"/>
    <material>Gazebo/Grey</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <joint name="front_right_wheel_joint" type="continuous">
    <parent link="base_link"/>
    <child link="front_right_wheel"/>
    <origin rpy="0 0 0" xyz="0.0 0.15 0.0"/>
    <axis rpy="0  0" xyz="0 1 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <!-- Transmission is important to link the joints and the controller -->
  <transmission name="front_right_wheel_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="front_right_wheel_joint"/>
    <actuator name="front_right_wheel_joint_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!--fb : front, back ; lr: left, right -->
  <link name="front_left_wheel">
    <visual>
      <origin rpy="1.57079632679 0  0 " xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.04"/>
      </geometry>
      <material name="Black"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0 " xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.04"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.5"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.00108333333333" ixy="0" ixz="0" iyy="0.00108333333333" iyz="0" izz="0.002"/>
    </inertial>
  </link>
  <gazebo reference="front_left_wheel">
    <mu1 value="1.0"/>
    <mu2 value="1.0"/>
    <kp value="10000000.0"/>
    <kd value="1.0"/>
    <fdir1 value="1 0 0"/>
    <material>Gazebo/Grey</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <joint name="front_left_wheel_joint" type="continuous">
    <parent link="base_link"/>
    <child link="front_left_wheel"/>
    <origin rpy="0 0 0" xyz="0.0 -0.15 0.0"/>
    <axis rpy="0  0" xyz="0 1 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <!-- Transmission is important to link the joints and the controller -->
  <transmission name="front_left_wheel_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="front_left_wheel_joint"/>
    <actuator name="front_left_wheel_joint_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!--Caster front  -->
  <link name="caster_front_link">
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
      <geometry>
        <sphere radius="0.025"/>
      </geometry>
      <material name="Black"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.025"/>
      </geometry>
      <origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
    </collision>
    <inertial>
      <mass value="0.5"/>
      <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="caster_front_joint" type="fixed">
    <parent link="base_link"/>
    <child link="caster_front_link"/>
    <origin rpy="-1.57079632679 0 0" xyz="0.115 0.0 0.007"/>
  </joint>
  <gazebo reference="caster_front_link">
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <!--Caster back  -->
  <link name="caster_back_link">
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0.02 0.02 0 "/>
      <geometry>
        <sphere radius="0.025"/>
      </geometry>
      <material name="Black"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.025"/>
      </geometry>
      <origin rpy="1.57079632679 0 0" xyz="0 0.02 0 "/>
    </collision>
    <inertial>
      <mass value="0.5"/>
      <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="caster_back_joint" type="fixed">
    <parent link="base_link"/>
    <child link="caster_back_link"/>
    <origin rpy="-1.57079632679 0 0" xyz="-0.135 0.0 0.009"/>
  </joint>
  <gazebo reference="caster_back_link">
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <!-- SENSORS -->
  <!-- hokuyo -->
  <link name="hokuyo_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 0.05 0.05"/>
      </geometry>
      <material name="Blue"/>
    </visual>
  </link>
  <joint name="hokuyo_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.125 0 0.0325"/>
    <parent link="base_link"/>
    <child link="hokuyo_link"/>
  </joint>
  <gazebo reference="hokuyo_link">
    <material>Gazebo/Blue</material>
    <turnGravityOff>false</turnGravityOff>
    <sensor name="head_hokuyo_sensor" type="ray">
      <pose>0.025 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>40</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>1</resolution>
            <min_angle>-1.570796</min_angle>
            <max_angle>1.570796</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</min>
          <max>10.0</max>
          <resolution>0.001</resolution>
        </range>
      </ray>
      <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller">
        <topicName>/scan</topicName>
        <frameName>hokuyo_link</frameName>
      </plugin>
    </sensor>
  </gazebo>
  <!-- Differential drive controller  -->
  <gazebo>
    <plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller_front">
      <rosDebugLevel>Debug</rosDebugLevel>
      <publishWheelTF>True</publishWheelTF>
      <publishTf>1</publishTf>
      <publishWheelJointState>true</publishWheelJointState>
      <alwaysOn>true</alwaysOn>
      <updateRate>100.0</updateRate>
      <leftJoint>front_left_wheel_joint</leftJoint>
      <rightJoint>front_right_wheel_joint</rightJoint>
      <wheelSeparation>0.3</wheelSeparation>
      <wheelDiameter>0.08</wheelDiameter>
      <broadcastTF>1</broadcastTF>
      <wheelTorque>30</wheelTorque>
      <wheelAcceleration>1.8</wheelAcceleration>
      <commandTopic>cmd_vel</commandTopic>
      <odometryFrame>odom</odometryFrame>
      <odometryTopic>odom</odometryTopic>
      <robotBaseFrame>base_link</robotBaseFrame>
    </plugin>
  </gazebo>
  <!--
	  <gazebo>
	    <plugin name="kobuki_controller" filename="libgazebo_ros_kobuki.so">
	      <publish_tf>1</publish_tf>
	      <left_wheel_joint_name>front_left_wheel_joint</left_wheel_joint_name>
	      <right_wheel_joint_name>front_right_wheel_joint</right_wheel_joint_name>
	      <wheel_separation>.30</wheel_separation>
	      <wheel_diameter>0.08</wheel_diameter>
	      <torque>30.0</torque>
	      <velocity_command_timeout>0.6</velocity_command_timeout>
	    </plugin>
	  </gazebo>
-->
  <!--
<gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" />
    <plugin filename="libgazebo_ros_joint_state_publisher.so" name="joint_state_publisher">
      <jointName>front_right_wheel_joint, front_left_wheel_joint</jointName>
      <updateRate>10.0</updateRate>
      <alwaysOn>true</alwaysOn>
    </plugin>
</gazebo>
-->
</robot>