<?xml version='1.0'?>
<sdf version='1.3'>
  <model name="ales_robot">
    <static>false</static>
    <pose>0 0 0.085 0 0 1.57079633</pose>
    <link name="base_link">
      <pose>0 0 0.296 0 0 1.5707</pose>
        <inertial>
          <mass>20.0</mass>
          <inertia>
            <ixx>3.737</ixx>
            <ixy>0.008</ixy>
            <ixz>-0.144</ixz>
            <iyy>8.311</iyy>
            <iyz>-0.004</iyz>
            <izz>8.893</izz>
          </inertia>
        </inertial>

        <collision name="chassis_geom">
          <pose>0 0 0 0 0 0</pose>
          <geometry>
            <mesh>
              <uri>model://ales_robot/meshes/chassis-suspension.dae</uri>
            </mesh>
          </geometry>
        </collision>
        <visual name="chassis_visual">
          <pose>0 0 0 0 0 0</pose>
          <geometry>
            <mesh>
              <uri>model://ales_robot/meshes/chassis-suspension.dae</uri>
            </mesh>
          </geometry>
        </visual>
    </link>
    <link name="front_right_wheel_link">
      <pose>-0.38500 0.515 0.0670 0 0 1.5707</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.5</ixx>
            <ixy>0.0</ixy><iyy>0.5</iyy>
            <ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
          </inertia>
        </inertial>
      <collision name="front_right_wheel_geom">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://ales_robot/meshes/wheel.dae</uri>
          </mesh>
         </geometry>
        <surface>
          <friction>
            <ode>
             <mu>100000.0</mu>
             <mu2>100000.0</mu2>
             <slip1>0.0</slip1>
             <slip2>0.0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="front_right_wheel_visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
           <uri>model://ales_robot/meshes/wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <link name="front_left_wheel_link">
      <pose>-0.38500 -0.4800 0.0670 0 0 -1.5707</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.5</ixx>
            <ixy>0.0</ixy><iyy>0.5</iyy>
            <ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
          </inertia>
        </inertial>
        <collision name="front_left_wheel_geom">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://ales_robot/meshes/wheel.dae</uri>
          </mesh>
         </geometry>
        <surface>
          <friction>
            <ode>
             <mu>100000.0</mu>
             <mu2>100000.0</mu2>
             <slip1>0.0</slip1>
             <slip2>0.0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="front_left_wheel_visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
           <uri>model://ales_robot/meshes/wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <link name="rear_right_wheel_link">
      <pose>0.38500 0.515 0.0670 0 0 1.5707</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.5</ixx>
            <ixy>0.0</ixy><iyy>0.5</iyy>
            <ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
          </inertia>
        </inertial>
        <collision name="rear_right_wheel_geom">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://ales_robot/meshes/wheel.dae</uri>
          </mesh>
         </geometry>
        <surface>
          <friction>
            <ode>
             <mu>100000.0</mu>
             <mu2>100000.0</mu2>
             <slip1>0.0</slip1>
             <slip2>0.0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="rear_right_wheel_visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
           <uri>model://ales_robot/meshes/wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <link name="rear_left_wheel_link">
      <pose>0.38500 -0.4800 0.0670 0 0 -1.5707</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.5</ixx>
            <ixy>0.0</ixy><iyy>0.5</iyy>
            <ixz>0.0</ixz><iyz>0.0</iyz><izz>1.0</izz>
          </inertia>
        </inertial>
        <collision name="rear_left_wheel_geom">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://ales_robot/meshes/wheel.dae</uri>
          </mesh>
         </geometry>
        <surface>
          <friction>
            <ode>
             <mu>100000.0</mu>
             <mu2>100000.0</mu2>
             <slip1>0.0</slip1>
             <slip2>0.0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="rear_left_wheel_visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
           <uri>model://ales_robot/meshes/wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name="front_right_wheel_joint" type='revolute'>
      <pose>0 0 0 0 0 0</pose>
        <parent>base_link</parent>
        <child>front_right_wheel_link</child>
        <axis>
          <xyz>0 1 0</xyz>
        </axis>
    </joint>
    <joint name="front_left_wheel_joint" type='revolute'>
      <pose>0 0 0 0 0 0</pose>
        <parent>base_link</parent>
        <child>front_left_wheel_link</child>
        <axis>
          <xyz>0 1 0</xyz>
        </axis>
    </joint>
    <joint name="rear_right_wheel_joint" type='revolute'>
      <pose>0 0 0 0 0 0</pose>
        <parent>base_link</parent>
        <child>rear_right_wheel_link</child>
        <axis>
          <xyz>0 1 0</xyz>
        </axis>
    </joint>
    <joint name="rear_left_wheel_joint" type='revolute'>
        <pose>0 0 0 0 0 0</pose>
          <parent>base_link</parent>
          <child>rear_left_wheel_link</child>
          <axis>
            <xyz>0 1 0</xyz>
          </axis>
    </joint>

    <plugin name="gazebo_ros_controller_manager" filename="libgazebo_ros_controller_manager.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1000.0</updateRate>
    </plugin>
    <plugin name="diff_drive" filename="libSkidSteerDriveROSPlugin.so">
      <front_left_joint>front_left_wheel_joint</front_left_joint>
      <front_right_joint>front_right_wheel_joint</front_right_joint>
      <rear_left_joint>rear_left_wheel_joint</rear_left_joint>
      <rear_right_joint>rear_right_wheel_joint</rear_right_joint>
      <topicName>vel_cmd</topicName>
      <torque>40</torque>
    </plugin>

<!--
    <include>
      <uri>model://camera</uri>
      <pose>0.481 0 0.403 0 0 0</pose>

    </include>

    <joint name="camera_joint" type="revolute">
      <child>camera::link</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>
-->

    <link name='imu_link'>
      <pose>0 0 0.20 0 0 0</pose>
      <gravity>false</gravity>
      <inertial>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <collision name='imu_collision'>
        <geometry>
          <box>
            <size>0.01 0.01 0.01</size>
          </box>
        </geometry>
      </collision>
      <visual name='imu_visual'>
        <geometry>
          <box>
            <size>0.01 0.01 0.01</size>
          </box>
        </geometry>
      </visual>
    </link>
    <joint type="revolute" name="imu_joint">
      <pose>0 0 0.403 0 0 0</pose>
      <child>imu_link</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>

    <plugin filename="libgazebo_ros_imu.so" name="gazebo_ros_imu">
      <bodyName>imu_link</bodyName>
      <serviceName>ales_imu</serviceName>
      <topicName>ales_imu</topicName>
      <gaussianNoise>2.89e-08</gaussianNoise>
      <xyzOffset>0 0 0</xyzOffset>
      <rpyOffset>0 0 0</rpyOffset>
    </plugin>

  <include>
    <uri>model://hokuyo</uri>
    <pose>-0.615 0 0.435 0 0 0</pose>
  </include>

  <joint name="hokuyo_joint" type="revolute">
    <child>hokuyo::link</child>
    <parent>base_link</parent>
    <axis>
      <xyz>0 0 1</xyz>
      <limit>
        <upper>0</upper>
        <lower>0</lower>
      </limit>
    </axis>
  </joint>

  <plugin filename="libgazebo_ros_joint_trajectory.so" name="joint_trajectory_plugin">
      <topicName>joint_trajectory</topicName>
      <updateRate>1000.0</updateRate>
  </plugin>

  <plugin filename="libgazebo_ros_p3d.so" name="gazebo_ros_p3d">
    <bodyName>base_link</bodyName>
    <topicName>/ground_truth_odom</topicName>
    <alwaysOn>true</alwaysOn>
    <updateRate>100.0</updateRate>
  </plugin>
 `</model>
</sdf>