471 lines
14 KiB
XML
471 lines
14 KiB
XML
<?xml version="1.0"?>
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<robot name="mycar">
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<link name="base_footprint">
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<origin xyz="0 0 0" rpy="0 0 0" />
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</link>
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<link name="base_link">
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</link>
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<joint name="base_joint" type="fixed">
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<parent link="base_footprint" />
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<child link="base_link" />
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<origin xyz="0 0.0 -0.09" rpy="0 0 0" />
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</joint>
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<link name="chassis_link">
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<inertial>
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<origin xyz="0.0374140021041951 -0.000373005187591258 -0.0771282894414029" rpy="0 0 0" />
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<mass value="12" />
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<inertia ixx="2.0833333333333335"
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ixy="0" ixz="0"
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iyy="11.979166666666668" iyz="0"
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izz="11.979166666666668" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.276 0.164 0.08" />
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</geometry>
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<material name="base_color">
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<color rgba="0.4 0.039 0.039 1" />
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.07" />
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<geometry>
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<box size="0.276 0.164 0.08" />
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</geometry>
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</collision>
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</link>
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<joint name="chassis_joint" type="fixed">
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<parent link="base_link" />
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<child link="chassis_link" />
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<origin xyz="0 0.0 0.1555" rpy="0 0 0" />
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</joint>
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<link name="borad_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="12" />
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<inertia ixx="2.0833333333333335"
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ixy="0" ixz="0"
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iyy="11.979166666666668" iyz="0"
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izz="11.979166666666668" />
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</inertial>
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<visual>
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<geometry>
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<box size="0.200 0.164 0.07" />
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<material name="rgba(246,152,152,1)">
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<color rgba="0.9647058823529412 0.596078431372549 0.596078431372549 1" />
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.0" />
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<geometry>
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<box size="0.200 0.164 0.07" />
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</geometry>
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</collision>
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</link>
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<joint name="board_joint" type="fixed">
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<parent link="chassis_link" />
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<child link="borad_link" />
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<origin rpy="0 0 0" xyz="0 0 0.075" />
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</joint>
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<link name="fr_left_steer_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="0.01" />
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<inertia
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ixx="9.880333333333333E-5"
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ixy="0" ixz="0"
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iyy="9.880333333333333E-5"
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iyz="0" izz="9.8E-5" />
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</inertial>
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</link>
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<joint name="fr_left_steer_joint" type="revolute">
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<origin xyz="0.0841 0.0945 -0.03" rpy="0 0 0" />
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<parent link="chassis_link" />
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<child link="fr_left_steer_link" />
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<axis xyz="0 0 1" />
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<limit upper="0.6" lower="-0.6" effort="-1.0" velocity="-20.0" />
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</joint>
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<link name="fr_left_wheel_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1.5" />
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<inertia
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ixx="0.02964"
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ixy="0" ixz="0"
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iyy="0.02964"
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iyz="0" izz="0.0294" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<cylinder length="0.025" radius="0.03" />
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</geometry>
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<material name="">
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<color rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<cylinder length="0.025" radius="0.03" />
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</geometry>
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</collision>
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</link>
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<joint name="fr_left_wheel_joint" type="continuous">
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<origin xyz="0 0 0" rpy="1.5708 0 0" />
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<parent link="fr_left_steer_link" />
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<child link="fr_left_wheel_link" />
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<axis xyz="0 0 -1" />
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<dynamics friction="0.2" damping="0.12" />
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<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
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</joint>
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<link name="fr_right_steer_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="0.01" />
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<inertia
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ixx="9.880333333333333E-5"
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ixy="0" ixz="0"
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iyy="9.880333333333333E-5"
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iyz="0" izz="9.8E-5" />
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</inertial>
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</link>
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<joint name="fr_right_steer_joint" type="revolute">
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<origin xyz="0.0841 -0.0945 -0.03" rpy="0 0 0" />
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<parent link="chassis_link" />
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<child link="fr_right_steer_link" />
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<axis xyz="0 0 1" />
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<limit upper="0.6" lower="-0.6" effort="-1.0" velocity="-20.0" />
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</joint>
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<link name="fr_right_wheel_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1.5" />
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<inertia
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ixx="0.02964"
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ixy="0" ixz="0"
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iyy="0.02964"
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iyz="0" izz="0.0294" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<cylinder length="0.025" radius="0.03" />
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</geometry>
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<material name="">
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<color rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<cylinder length="0.025" radius="0.03" />
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</geometry>
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</collision>
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</link>
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<joint name="fr_right_wheel_joint" type="continuous">
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<origin xyz="0 0 0" rpy="-1.5708 0 0" />
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<parent link="fr_right_steer_link" />
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<child link="fr_right_wheel_link" />
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<axis xyz="0 0 1" />
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<dynamics friction="0.2" damping="0.12" />
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<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
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</joint>
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<link name="re_left_wheel_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1.5" />
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<inertia
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ixx="0.02964"
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ixy="0" ixz="0"
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iyy="0.02964"
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iyz="0" izz="0.0294" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<cylinder length="0.025" radius="0.03" />
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</geometry>
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<material name="">
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<color rgba="0.37647 0.37647 0.37647 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<cylinder length="0.025" radius="0.03" />
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</geometry>
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</collision>
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</link>
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<joint name="re_left_wheel_joint" type="continuous">
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<origin xyz="-0.0841 0.0945 -0.03" rpy="1.5708 0 0" />
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<parent link="chassis_link" />
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<child link="re_left_wheel_link" />
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<axis xyz="0 0 -1" />
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<dynamics friction="0.2" damping="0.12" />
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<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
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</joint>
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<link name="re_right_wheel_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1.5" />
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<inertia
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ixx="0.02964"
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ixy="0" ixz="0"
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iyy="0.02964"
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iyz="0" izz="0.0294" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<cylinder length="0.025" radius="0.03" />
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</geometry>
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<material name="">
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<color rgba="0.37647 0.37647 0.37647 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<cylinder length="0.025" radius="0.03" />
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</geometry>
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</collision>
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</link>
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<joint name="re_right_wheel_joint" type="continuous">
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<origin xyz="-0.0841 -0.0945 -0.03" rpy="-1.5708 0 0" />
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<parent link="chassis_link" />
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<child link="re_right_wheel_link" />
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<axis xyz="0 0 1" />
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<dynamics friction="0.2" damping="0.1" />
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<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
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</joint>
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<link name="virtual_steer_link">
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<visual>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="0.01 0.01 0.01" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 0.0 1" />
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</material>
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</visual>
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<inertial>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<mass value="0.001" />
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<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
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</inertial>
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</link>
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<joint name="virtual_steering_wheel_joint" type="revolute">
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<origin xyz="0.0841 0.0 0.0" rpy="0.0 0.0 0.0" />
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<parent link="chassis_link" />
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<child link="virtual_steer_link" />
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<axis xyz="-1 0 0" />
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<limit lower="-3" upper="3" effort="200" velocity="20" />
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</joint>
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<!-- **************************** -->
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<!-- 激光雷达 -->
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<link name="laser_link">
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<visual>
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<geometry>
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<cylinder radius="0.025" length="0.05" />
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</geometry>
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<origin rpy="0 0 0" xyz="0.04 0 0" />
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<material name="rgba(255,255,255,1)">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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</link>
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<joint name="laser_joint" type="fixed">
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<parent link="borad_link" />
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<child link="laser_link" />
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<origin rpy="0 0 0" xyz="0.045 0 0.065" />
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</joint>
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<!-- IMU -->
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<link name="imu_link">
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<visual>
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<geometry>
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<box size="0.02 0.02 0.02" />
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 -0.01" />
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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</link>
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<joint name="imu_joint" type="fixed">
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<parent link="borad_link" />
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<child link="imu_link" />
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<origin rpy="0 0 0" xyz="0 0 0.045" />
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</joint>
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<!-- ackerman -->
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<gazebo>
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<plugin name="gazebo_ros_ackermann_drive" filename="libgazebo_ros_ackermann_drive.so">
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<ros>
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<namespace>/</namespace>
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<remapping>cmd_vel:=cmd_vel</remapping>
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<remapping>odom:=odom</remapping>
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<remapping>distance:=distance</remapping>
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</ros>
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<update_rate>30.0</update_rate>
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<front_left_joint>fr_left_wheel_joint</front_left_joint>
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<front_right_joint>fr_right_wheel_joint</front_right_joint>
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<rear_left_joint>re_left_wheel_joint</rear_left_joint>
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<rear_right_joint>re_right_wheel_joint</rear_right_joint>
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<left_steering_joint>fr_left_steer_joint</left_steering_joint>
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<right_steering_joint>fr_right_steer_joint</right_steering_joint>
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<steering_wheel_joint>virtual_steering_wheel_joint</steering_wheel_joint>
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<max_steer>0.583972</max_steer>
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<max_steering_angle>1.570796</max_steering_angle>
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<max_speed>4</max_speed>
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<left_steering_pid_gain>600 0 6</left_steering_pid_gain>
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<left_steering_i_range>0 0</left_steering_i_range>
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<right_steering_pid_gain>600 0 6</right_steering_pid_gain>
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<right_steering_i_range>0 0</right_steering_i_range>
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<linear_velocity_pid_gain>800 0 0</linear_velocity_pid_gain>
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<linear_velocity_i_range>0 0</linear_velocity_i_range>
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<odometry_frame>odom</odometry_frame>
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<robot_base_frame>base_footprint</robot_base_frame>
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<publish_odom>true</publish_odom>
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<publish_odom_tf>true</publish_odom_tf>
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</plugin>
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<plugin name="gazebo_ros_joint_state_publisher"
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filename="libgazebo_ros_joint_state_publisher.so">
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<update_rate>100</update_rate>
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<joint_name>fr_right_steer_joint</joint_name>
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<joint_name>fr_right_wheel_joint</joint_name>
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<joint_name>fr_left_steer_joint</joint_name>
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<joint_name>fr_left_wheel_joint</joint_name>
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<joint_name>re_right_wheel_joint</joint_name>
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<joint_name>re_left_wheel_joint</joint_name>
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<joint_name>virtual_steering_wheel_joint</joint_name>
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</plugin>
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</gazebo>
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<gazebo reference="imu_link">
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<sensor name="imu_sensor" type="imu">
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<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
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<ros>
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<namespace>/</namespace>
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<remapping>~/out:=imu</remapping>
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</ros>
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<initial_orientation_as_reference>false</initial_orientation_as_reference>
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</plugin>
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<always_on>true</always_on>
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<update_rate>100</update_rate>
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<visualize>true</visualize>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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</sensor>
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</gazebo>
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<gazebo reference="laser_link">
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<sensor name="laser_sensor" type="ray">
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<always_on>true</always_on>
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<visualize>true</visualize>
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<update_rate>5</update_rate>
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<pose>0 0 0.075 0 0 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>360</samples>
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<resolution>1.000000</resolution>
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<min_angle>0.000000</min_angle>
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<max_angle>6.280000</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.120000</min>
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<max>3.5</max>
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<resolution>0.015000</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.01</stddev>
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</noise>
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|
</ray>
|
|
|
|
<plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
|
|
<ros>
|
|
|
|
<remapping>~/out:=scan</remapping>
|
|
</ros>
|
|
<output_type>sensor_msgs/LaserScan</output_type>
|
|
<frame_name>laser_link</frame_name>
|
|
</plugin>
|
|
</sensor>
|
|
</gazebo>
|
|
</robot> |