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- <sdf version="1.3">
- <model name="P3-AT">
- <pose>0 0 0.180 0 0 0</pose>
- <static>false</static>
- <link name="chassis">
- <inertial>
- <mass>14.0</mass>
- <inertia>
- <ixx>1.0</ixx>
- <ixy>0.0</ixy>
- <ixz>0.0</ixz>
- <iyy>1.0</iyy>
- <iyz>0.0</iyz>
- <izz>1.0</izz>
- </inertia>
- </inertial>
- <collision name="collision">
- <geometry>
- <box>
- <size>0.501 0.400 0.19</size>
- </box>
- </geometry>
- </collision>
- <visual name="visual">
- <geometry>
- <mesh>
- <uri>model://Pioneer/meshes/chassis.dae</uri>
- </mesh>
- </geometry>
- </visual>
- </link>
- <link name="right_front_wheel">
- <pose>0.125 -0.201 -0.06 1.5707 0 0</pose>
- <collision name="collision">
- <geometry>
- <cylinder>
- <radius>0.110</radius>
- <length>0.075</length>
- </cylinder>
- </geometry>
- <surface>
- <friction>
- <ode>
- <mu>1.4</mu>
- <mu2>1.4</mu2>
- <slip1>0.0</slip1>
- <slip2>0.0</slip2>
- </ode>
- </friction>
- </surface>
- </collision>
- <visual name="visual">
- <geometry>
- <mesh>
- <uri>model://Pioneer/meshes/wheel.dae</uri>
- </mesh>
- </geometry>
- </visual>
- </link>
- <link name="left_front_wheel">
- <pose>0.125 0.201 -0.06 1.5707 0 0</pose>
- <collision name="collision">
- <geometry>
- <cylinder>
- <radius>0.110</radius>
- <length>0.075</length>
- </cylinder>
- </geometry>
- <surface>
- <friction>
- <ode>
- <mu>1.4</mu>
- <mu2>1.4</mu2>
- <slip1>0.0</slip1>
- <slip2>0.0</slip2>
- </ode>
- </friction>
- </surface>
- </collision>
- <visual name="visual">
- <geometry>
- <mesh>
- <uri>model://Pioneer/meshes/wheel.dae</uri>
- </mesh>
- </geometry>
- </visual>
- </link>
- <link name="right_rear_wheel">
- <pose>-0.125 -0.201 -0.06 1.5707 0 0</pose>
- <collision name="collision">
- <geometry>
- <cylinder>
- <radius>0.110</radius>
- <length>0.075</length>
- </cylinder>
- </geometry>
- <surface>
- <friction>
- <ode>
- <mu>1.4</mu>
- <mu2>1.4</mu2>
- <slip1>0.0</slip1>
- <slip2>0.0</slip2>
- </ode>
- </friction>
- </surface>
- </collision>
- <visual name="visual">
- <geometry>
- <mesh>
- <uri>model://Pioneer/meshes/wheel.dae</uri>
- </mesh>
- </geometry>
- </visual>
- </link>
- <link name="left_rear_wheel">
- <pose>-0.125 0.201 -0.06 1.5707 0 0</pose>
- <collision name="collision">
- <geometry>
- <cylinder>
- <radius>0.110</radius>
- <length>0.075</length>
- </cylinder>
- </geometry>
- <surface>
- <friction>
- <ode>
- <mu>1.4</mu>
- <mu2>1.4</mu2>
- <slip1>0.0</slip1>
- <slip2>0.0</slip2>
- </ode>
- </friction>
- </surface>
- </collision>
- <visual name="visual">
- <geometry>
- <mesh>
- <uri>model://Pioneer/meshes/wheel.dae</uri>
- </mesh>
- </geometry>
- </visual>
- </link>
- <joint type="revolute" name="right_front_wheel_joint">
- <pose>0 0 0 0 0 0</pose>
- <child>right_front_wheel</child>
- <parent>chassis</parent>
- <axis>
- <xyz>0 1 0</xyz>
- </axis>
- </joint>
- <joint type="revolute" name="right_rear_wheel_joint">
- <pose>0 0 0 0 0 0</pose>
- <child>right_rear_wheel</child>
- <parent>chassis</parent>
- <axis>
- <xyz>0 1 0</xyz>
- </axis>
- </joint>
- <joint type="revolute" name="left_front_wheel_joint">
- <pose>0 0 0 0 0 0</pose>
- <child>left_front_wheel</child>
- <parent>chassis</parent>
- <axis>
- <xyz>0 1 0</xyz>
- </axis>
- </joint>
- <joint type="revolute" name="left_rear_wheel_joint">
- <pose>0 0 0 0 0 0</pose>
- <child>left_rear_wheel</child>
- <parent>chassis</parent>
- <axis>
- <xyz>0 1 0</xyz>
- </axis>
- </joint>
- <!--
- <include>
- <uri>model://hokuyo</uri>
- <pose>0.2 0 0.13 0 0 0</pose>
- </include>
- <joint name="hokuyo_joint" type="revolute">
- <child>hokuyo::link</child>
- <parent>chassis</parent>
- <axis>
- <xyz>0 0 1</xyz>
- <limit>
- <upper>0</upper>
- <lower>0</lower>
- </limit>
- </axis>
- </joint>
- -->
- <plugin name="ros_based_plugin" filename="libros_model_plugin.so"/>
- </model>
- </sdf>
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