mirror of
https://gitlab.com/yikestone/line_follower_gazebo_sim.git
synced 2025-08-03 13:44:09 +05:30
85 lines
2.6 KiB
XML
85 lines
2.6 KiB
XML
<?xml version="1.0"?>
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
|
|
|
<gazebo>
|
|
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
|
<robotNamespace>/line_follower</robotNamespace>
|
|
</plugin>
|
|
</gazebo>
|
|
|
|
<gazebo>
|
|
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<legacyMode>false</legacyMode>
|
|
<updateRate>100</updateRate>
|
|
<leftJoint>left_wheel_hinge</leftJoint>
|
|
<rightJoint>right_wheel_hinge</rightJoint>
|
|
<wheelSeparation>${chassisWidth+wheelWidth}</wheelSeparation>
|
|
<wheelDiameter>${2*wheelRadius}</wheelDiameter>
|
|
<wheelTorque>20</wheelTorque>
|
|
<commandTopic>line_follower/cmd_vel</commandTopic>
|
|
<publishWheelTF>true</publishWheelTF>
|
|
<wheelAcceleration>1</wheelAcceleration>
|
|
<odometryTopic>line_follower/odom_diffdrive</odometryTopic>
|
|
<publishWheelJointState>true</publishWheelJointState>
|
|
<odometryFrame>odom</odometryFrame>
|
|
<publishTf>true</publishTf>
|
|
<odometrySource>1</odometrySource>
|
|
<robotBaseFrame>footprint</robotBaseFrame>
|
|
</plugin>
|
|
</gazebo>
|
|
|
|
<gazebo>
|
|
<plugin name="ground_truth" filename="libgazebo_ros_p3d.so">
|
|
<frameName>map</frameName>
|
|
<bodyName>chassis</bodyName>
|
|
<topicName>line_follower/odom</topicName>
|
|
<updateRate>30.0</updateRate>
|
|
</plugin>
|
|
</gazebo>
|
|
|
|
<gazebo reference="chassis">
|
|
<material>Gazebo/Orange</material>
|
|
</gazebo>
|
|
|
|
<gazebo reference="caster_wheel">
|
|
<mu1>0.0</mu1>
|
|
<mu2>0.0</mu2>
|
|
<material>Gazebo/Grey</material>
|
|
</gazebo>
|
|
|
|
<gazebo reference="camera">
|
|
<material>Gazebo/Grey</material>
|
|
<sensor type="camera" name="camera1">
|
|
<update_rate>30.0</update_rate>
|
|
<camera name="head">
|
|
<horizontal_fov>1.3962634</horizontal_fov>
|
|
<image>
|
|
<width>800</width>
|
|
<height>800</height>
|
|
<format>R8G8B8</format>
|
|
</image>
|
|
<clip>
|
|
<near>0.02</near>
|
|
<far>300</far>
|
|
</clip>
|
|
</camera>
|
|
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
|
|
<alwaysOn>true</alwaysOn>
|
|
<updateRate>0.0</updateRate>
|
|
<cameraName>line_follower/camera1</cameraName>
|
|
<imageTopicName>image_raw</imageTopicName>
|
|
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
|
|
<frameName>camera_link</frameName>
|
|
<hackBaseline>0.07</hackBaseline>
|
|
<distortionK1>0.0</distortionK1>
|
|
<distortionK2>0.0</distortionK2>
|
|
<distortionK3>0.0</distortionK3>
|
|
<distortionT1>0.0</distortionT1>
|
|
<distortionT2>0.0</distortionT2>
|
|
</plugin>
|
|
</sensor>
|
|
</gazebo>
|
|
|
|
</robot>
|