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Added Gazebo Sim model files

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yikestone 2021-01-20 17:32:37 +05:30
parent c4cae9f087
commit 2fd7b5ac56
60 changed files with 15030 additions and 6 deletions
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2
gazebo_sim/launch/gazebo_sim.launch
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<launch> <launch>
<include file="$(find gazebo_ros)/launch/empty_world.launch"> <include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find qt_pi_gazebo_sim)/worlds/qt_pi_laser.world"/> <arg name="world_name" value="$(find qt_pi_gazebo_sim)/worlds/playground.world"/>
</include> </include>
<!-- <include file="$(find qt_pi_gazebo_sim)/launch/depth_to_laser.launch"/> --> <!-- <include file="$(find qt_pi_gazebo_sim)/launch/depth_to_laser.launch"/> -->
<include file="$(find qt_pi_gazebo_sim)/launch/static_tf.launch"/> <include file="$(find qt_pi_gazebo_sim)/launch/static_tf.launch"/>

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gazebo_sim/models/ground_plane/model-1_2.sdf Normal file
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<?xml version="1.0"?>
<gazebo version="1.2">
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
</gazebo>

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gazebo_sim/models/ground_plane/model-1_3.sdf Normal file
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<?xml version="1.0"?>
<sdf version="1.3">
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

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gazebo_sim/models/ground_plane/model-1_4.sdf Normal file
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<?xml version="1.0"?>
<sdf version="1.4">
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

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gazebo_sim/models/ground_plane/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Ground Plane</name>
<version>1.0</version>
<sdf version="1.2">model-1_2.sdf</sdf>
<sdf version="1.3">model-1_3.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.org</email>
</author>
<description>
A simple ground plane.
</description>
</model>

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gazebo_sim/models/ground_plane/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

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gazebo_sim/models/hokuyo/meshes/hokuyo.dae Normal file
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gazebo_sim/models/hokuyo/meshes/hokuyo_convex.stl Normal file
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gazebo_sim/models/hokuyo/model-1_2.sdf Normal file
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<?xml version="1.0" ?>
<gazebo version="1.2">
<model name="hokuyo">
<link name="link">
<gravity>false</gravity>
<inertial>
<mass>0.1</mass>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>model://hokuyo/meshes/hokuyo.dae</uri>
</mesh>
</geometry>
</visual>
<sensor name="laser" type="ray">
<pose>0.01 0 0.03 0 -0 0</pose>
<ray>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>-2.26889</min_angle>
<max_angle>2.268899</max_angle>
</horizontal>
</scan>
<range>
<min>0.08</min>
<max>10</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="laser" filename="libRayPlugin.so" />
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
</link>
</model>
</gazebo>

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gazebo_sim/models/hokuyo/model-1_3.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.3">
<model name="hokuyo">
<pose>0 0 0.035 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.1</mass>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>model://hokuyo/meshes/hokuyo.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision-base">
<pose>0 0 -0.0145 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.041</size>
</box>
</geometry>
</collision>
<collision name="collision-top">
<pose>0 0 0.0205 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.029</length>
</cylinder>
</geometry>
</collision>
<sensor name="laser" type="ray">
<pose>0.01 0 0.0175 0 -0 0</pose>
<ray>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>-2.26889</min_angle>
<max_angle>2.268899</max_angle>
</horizontal>
</scan>
<range>
<min>0.08</min>
<max>10</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="laser" filename="libRayPlugin.so" />
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
</link>
</model>
</sdf>

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gazebo_sim/models/hokuyo/model-1_4.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="hokuyo">
<pose>0 0 0.035 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.1</mass>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>model://hokuyo/meshes/hokuyo.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision-base">
<pose>0 0 -0.0145 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.041</size>
</box>
</geometry>
</collision>
<collision name="collision-top">
<pose>0 0 0.0205 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.029</length>
</cylinder>
</geometry>
</collision>
<sensor name="laser" type="ray">
<pose>0.01 0 0.0175 0 -0 0</pose>
<ray>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>-2.26889</min_angle>
<max_angle>2.268899</max_angle>
</horizontal>
</scan>
<range>
<min>0.08</min>
<max>10</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="laser" filename="libRayPlugin.so" />
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
</link>
</model>
</sdf>

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gazebo_sim/models/hokuyo/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Hokuyo</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>John Hsu</name>
<email>hsu@osrfoundation.org</email>
</author>
<description>
Hokuyo model
</description>
</model>

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gazebo_sim/models/hokuyo/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="hokuyo">
<pose>0 0 0.035 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.1</mass>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>model://hokuyo/meshes/hokuyo.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
<collision name="collision-base">
<pose>0 0 -0.0145 0 0 0</pose>
<geometry>
<box>
<size>0.025 0.025 0.0205</size>
</box>
</geometry>
</collision>
<collision name="collision-top">
<pose>0 0 0.0205 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.0105</radius>
<length>0.0145</length>
</cylinder>
</geometry>
</collision>
<sensor name="laser" type="ray">
<pose>0.01 0 0.0175 0 -0 0</pose>
<ray>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>-2.26889</min_angle>
<max_angle>2.268899</max_angle>
</horizontal>
</scan>
<range>
<min>0.08</min>
<max>10</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="laser" filename="libgazebo_ros_laser.so">
<topicName>scan</topicName>
<frameName>laser</frameName>
<always_on>1</always_on>
<robotNamespace>qt_pi</robotNamespace>
<update_rate>15</update_rate>
</plugin>
<update_rate>15</update_rate>
<visualize>true</visualize>
</sensor>
</link>
</model>
</sdf>

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gazebo_sim/models/kinect/materials/textures/kinect.png Normal file
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gazebo_sim/models/kinect/meshes/kinect.dae Normal file
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gazebo_sim/models/kinect/model-1_2.sdf Normal file
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<?xml version="1.0" ?>
<gazebo version="1.2">
<model name="kinect">
<pose>0 0 0.036 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.1</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.073000 0.276000 0.072000</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://kinect/meshes/kinect.dae</uri>
</mesh>
</geometry>
</visual>
<sensor name="camera" type="depth">
<update_rate>20</update_rate>
<camera>
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>3</far>
</clip>
</camera>
</sensor>
</link>
</model>
</gazebo>

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<?xml version="1.0" ?>
<sdf version="1.3">
<model name="kinect">
<pose>0 0 0.036 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.1</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.073000 0.276000 0.072000</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://kinect/meshes/kinect.dae</uri>
</mesh>
</geometry>
</visual>
<sensor name="camera" type="depth">
<update_rate>20</update_rate>
<camera>
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>3</far>
</clip>
</camera>
</sensor>
</link>
</model>
</sdf>

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gazebo_sim/models/kinect/model-1_4.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="kinect">
<pose>0 0 0.036 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.1</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.073000 0.276000 0.072000</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://kinect/meshes/kinect.dae</uri>
</mesh>
</geometry>
</visual>
<sensor name="camera" type="depth">
<update_rate>20</update_rate>
<camera>
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>3</far>
</clip>
</camera>
</sensor>
</link>
</model>
</sdf>

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gazebo_sim/models/kinect/model.config Normal file
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<?xml version="1.0"?>
<model>
<version>1.0</version>
<name>Kinect</name>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.org</email>
</author>
<description>
A model of the kinect sensor
</description>
</model>

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gazebo_sim/models/kinect/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="kinect">
<pose>0 0 0.036 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.01</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.073000 0.276000 0.072000</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://kinect/meshes/kinect.dae</uri>
</mesh>
</geometry>
</visual>
<sensor name="camera" type="depth">
<update_rate>15</update_rate>
<camera>
<horizontal_fov>1.2215</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>12</far>
</clip>
</camera>
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
<robotNamespace>qt_pi</robotNamespace>
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>15</updateRate>
<cameraName>camera_ir</cameraName>
<imageTopicName>/qt_pi/camera_ir/color/image_raw</imageTopicName>
<cameraInfoTopicName>/qt_pi/camera_ir/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/qt_pi/camera_ir/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera_ir/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/qt_pi/camera_ir/depth/points</pointCloudTopicName>
<frameName>camera_link</frameName>
<pointCloudCutoff>0.05</pointCloudCutoff>
<distortionK1>0</distortionK1>
<distortionK2>0</distortionK2>
<distortionK3>0</distortionK3>
<distortionT1>0</distortionT1>
<distortionT2>0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</link>
</model>
</sdf>

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gazebo_sim/models/path/materials/scripts/path.material Normal file
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material path/Image
{
technique
{
pass
{
ambient 0.5 0.5 0.5 1.0
diffuse 1.0 1.0 1.0 1.0
specular 0.0 0.0 0.0 1.0 0.5
texture_unit
{
texture path.png
}
}
}
}

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<?xml version="1.0"?>
<model>
<name>path</name>
<version>1.0</version>
<sdf version='1.4'>model.sdf</sdf>
<author>
<name>Yike Stone</name>
<email>me@my.email</email>
</author>
<description>
Line Follower Path
</description>
</model>

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<?xml version="1.0"?>
<sdf version="1.4">
<model name="path">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>4 4</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>4 4</size>
</plane>
</geometry>
<material>
<script>
<uri>model://path/materials/scripts/</uri>
<uri>model://path/materials/textures</uri>
<name>path/Image</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

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<?xml version="1.0"?>
<gazebo version="1.2">
<model name="pioneer2dx">
<link name="chassis">
<pose>0 0 0.16 0 0 0</pose>
<inertial>
<mass>5.0</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.445 0.277 0.17</size>
</box>
</geometry>
</collision>
<collision name="castor_collision">
<pose>-0.200 0 -0.12 0 0 0</pose>
<geometry>
<sphere>
<radius>0.04</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<mesh>
<uri>model://pioneer2dx/meshes/chassis.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="castor_visual">
<pose>-0.200 0 -0.12 0 0 0</pose>
<geometry>
<sphere>
<radius>0.04</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
</link>
<link name="right_wheel">
<pose>0.1 -.17 0.11 0 1.5707 1.5707</pose>
<inertial>
<mass>0.1</mass>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</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="visual">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
</link>
<link name="left_wheel">
<pose>0.1 .17 0.11 0 1.5707 1.5707</pose>
<inertial>
<mass>0.5</mass>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</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="visual">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
</link>
<joint type="revolute" name="left_wheel_hinge">
<pose>0 0 -0.03 0 0 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="revolute" name="right_wheel_hinge">
<pose>0 0 0.03 0 0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<plugin filename="libDiffDrivePlugin.so" name="diff_drive">
<left_joint>left_wheel_hinge</left_joint>
<right_joint>right_wheel_hinge</right_joint>
<torque>5</torque>
</plugin>
</model>
</gazebo>

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gazebo_sim/models/pioneer2dx/model-1_3.sdf Normal file
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<?xml version="1.0"?>
<sdf version="1.3">
<model name="pioneer2dx">
<link name="chassis">
<pose>0 0 0.16 0 0 0</pose>
<inertial>
<mass>5.0</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.445 0.277 0.17</size>
</box>
</geometry>
</collision>
<collision name="castor_collision">
<pose>-0.200 0 -0.12 0 0 0</pose>
<geometry>
<sphere>
<radius>0.04</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<mesh>
<uri>model://pioneer2dx/meshes/chassis.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="castor_visual">
<pose>-0.200 0 -0.12 0 0 0</pose>
<geometry>
<sphere>
<radius>0.04</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
</link>
<link name="right_wheel">
<pose>0.1 -.17 0.11 0 1.5707 1.5707</pose>
<inertial>
<mass>0.1</mass>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</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="visual">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
</link>
<link name="left_wheel">
<pose>0.1 .17 0.11 0 1.5707 1.5707</pose>
<inertial>
<mass>0.5</mass>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</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="visual">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
</link>
<joint type="revolute" name="left_wheel_hinge">
<pose>0 0 -0.03 0 0 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="revolute" name="right_wheel_hinge">
<pose>0 0 0.03 0 0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<plugin filename="libDiffDrivePlugin.so" name="diff_drive">
<left_joint>left_wheel_hinge</left_joint>
<right_joint>right_wheel_hinge</right_joint>
<torque>5</torque>
</plugin>
</model>
</sdf>

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gazebo_sim/models/pioneer2dx/model-1_4.sdf Normal file
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<?xml version="1.0"?>
<sdf version="1.4">
<model name="pioneer2dx">
<link name="chassis">
<pose>0 0 0.16 0 0 0</pose>
<inertial>
<mass>5.67</mass>
<inertia>
<ixx>0.07</ixx>
<iyy>0.08</iyy>
<izz>0.10</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.445 0.277 0.17</size>
</box>
</geometry>
</collision>
<collision name="castor_collision">
<pose>-0.200 0 -0.12 0 0 0</pose>
<geometry>
<sphere>
<radius>0.04</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<mesh>
<uri>model://pioneer2dx/meshes/chassis.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="castor_visual">
<pose>-0.200 0 -0.12 0 0 0</pose>
<geometry>
<sphere>
<radius>0.04</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
</link>
<link name="right_wheel">
<pose>0.1 -.17 0.11 0 1.5707 1.5707</pose>
<inertial>
<mass>1.5</mass>
<inertia>
<ixx>0.0051</ixx>
<iyy>0.0051</iyy>
<izz>0.0090</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</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="visual">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
</link>
<link name="left_wheel">
<pose>0.1 .17 0.11 0 1.5707 1.5707</pose>
<inertial>
<mass>1.5</mass>
<inertia>
<ixx>0.0051</ixx>
<iyy>0.0051</iyy>
<izz>0.0090</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</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="visual">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
</link>
<joint type="revolute" name="left_wheel_hinge">
<pose>0 0 -0.03 0 0 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="revolute" name="right_wheel_hinge">
<pose>0 0 0.03 0 0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<plugin filename="libDiffDrivePlugin.so" name="diff_drive">
<left_joint>left_wheel_hinge</left_joint>
<right_joint>right_wheel_hinge</right_joint>
<torque>5</torque>
</plugin>
</model>
</sdf>

22
gazebo_sim/models/pioneer2dx/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Pioneer 2DX</name>
<version>1.0</version>
<sdf version="1.2">model-1_2.sdf</sdf>
<sdf version="1.3">model-1_3.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.org</email>
</author>
<description>
A model of the pioneer 2 dx robot.
</description>
<depend>
</depend>
</model>

181
gazebo_sim/models/pioneer2dx/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="pioneer2dx">
<link name="chassis">
<pose>0 0 0.16 0 0 0</pose>
<inertial>
<mass>5.67</mass>
<inertia>
<ixx>0.07</ixx>
<iyy>0.08</iyy>
<izz>0.10</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.445 0.277 0.17</size>
</box>
</geometry>
</collision>
<collision name="castor_collision">
<pose>-0.200 0 -0.12 0 0 0</pose>
<geometry>
<sphere>
<radius>0.04</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<mesh>
<uri>model://pioneer2dx/meshes/chassis.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="castor_visual">
<pose>-0.200 0 -0.12 0 0 0</pose>
<geometry>
<sphere>
<radius>0.04</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
</link>
<link name="right_wheel">
<pose>0.1 -.17 0.11 0 1.5707 1.5707</pose>
<inertial>
<mass>1.5</mass>
<inertia>
<ixx>0.0051</ixx>
<iyy>0.0051</iyy>
<izz>0.0090</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</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="visual">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
</link>
<link name="left_wheel">
<pose>0.1 .17 0.11 0 1.5707 1.5707</pose>
<inertial>
<mass>1.5</mass>
<inertia>
<ixx>0.0051</ixx>
<iyy>0.0051</iyy>
<izz>0.0090</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</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="visual">
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
</link>
<joint type="revolute" name="left_wheel_hinge">
<pose>0 0 -0.03 0 0 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<joint type="revolute" name="right_wheel_hinge">
<pose>0 0 0.03 0 0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<plugin filename="libDiffDrivePlugin.so" name="diff_drive">
<left_joint>left_wheel_hinge</left_joint>
<right_joint>right_wheel_hinge</right_joint>
<torque>5</torque>
</plugin>
</model>
</sdf>

11
gazebo_sim/models/playground/model.config Normal file
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<?xml version="1.0" ?>
<model>
<name>playground</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>

929
gazebo_sim/models/playground/model.sdf Normal file
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='playground'>
<pose frame=''>1.41143 -1.55808 0 0 -0 0</pose>
<link name='Wall_10'>
<collision name='Wall_10_Collision'>
<geometry>
<box>
<size>26.75 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_10_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>26.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>0.007886 -3.91706 0 0 -0 0</pose>
</link>
<link name='Wall_11'>
<collision name='Wall_11_Collision'>
<geometry>
<box>
<size>8 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_11_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>8 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>13.3079 0.007941 0 0 -0 1.5708</pose>
</link>
<link name='Wall_12'>
<collision name='Wall_12_Collision'>
<geometry>
<box>
<size>26.75 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_12_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>26.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>0.007886 3.93294 0 0 -0 3.14159</pose>
</link>
<link name='Wall_21'>
<pose frame=''>-9.18476 0.019386 0 0 0 -1.5708</pose>
<visual name='Wall_21_Visual_0'>
<pose frame=''>-3.12221 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.75558 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_21_Collision_0'>
<geometry>
<box>
<size>1.75558 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>-3.12221 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_21_Visual_1'>
<pose frame=''>0.438191 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.56521 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_21_Collision_1'>
<geometry>
<box>
<size>3.56521 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0.438191 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_21_Visual_2'>
<pose frame=''>3.5604 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.879203 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='Wall_21_Collision_2'>
<geometry>
<box>
<size>0.879203 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>3.5604 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_21_Visual_3'>
<pose frame=''>-1.79442 0 2.25 0 -0 0</pose>
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gazebo_sim/models/qt_pi_chassis/meshes/chassis.dae Normal file
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gazebo_sim/models/qt_pi_chassis/model.config Normal file
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<?xml version="1.0"?>
<model>
<version>1.0</version>
<name>qt_pi_chassis</name>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Rishabh Kundu</name>
<email>rishabhkundu@live.com</email>
</author>
<description>
A model of chassis for qt_pi.
</description>
</model>

18
gazebo_sim/models/qt_pi_chassis/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="qt_pi_chassis">
<pose>0 0 0.25 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.1</mass>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>model://qt_pi_chassis/meshes/chassis.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

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gazebo_sim/models/qt_pi_kinect/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Qt Pi Kinect</name>
<version>1.0</version>
<sdf version='1.5'>model.sdf</sdf>
<author>
<name>Rishabh Kundu</name>
<email>rishabh_kundu@rediffmail.com</email>
</author>
<description>
My Qt Pi.
</description>
</model>

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gazebo_sim/models/qt_pi_kinect/model.sdf Normal file
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<?xml version='1.0'?>
<sdf version='1.5'>
<model name="qt_pi_kinect">
<link name='chassis'>
<pose>0 0 0.0525 0 0 0</pose>
<inertial>
<mass>10</mass>
<pose>0 -0.02 -0.03 0 0 0</pose>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>.165 .156 .075</size>
</box>
</geometry>
</collision>
<visual name='visual'>
<pose>0 0.015 0.053 0 0 0</pose>
<geometry>
<mesh>
<uri>model://qt_pi_chassis/meshes/chassis.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='caster_collision'>
<pose>0 -0.065 -0.045 0 0 0</pose>
<geometry>
<sphere>
<radius>.0075</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0.0</restitution_coefficient>
<threshold>0.01</threshold>
</bounce>
<contact>
<ode>
<max_vel>0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='caster_visual'>
<pose>0 -0.065 -0.04 0 3.141592653589793 0</pose>
<geometry>
<mesh>
<uri>model://qt_pi_wheel/meshes/ball_castor.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
</link>
<link name="left_wheel">
<pose>0.106 0.03 0.0227 0 0 -1.5707963267948966</pose>
<inertial>
<mass>10</mass>
</inertial>
<collision name="collision">
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.0</restitution_coefficient>
<threshold>0.01</threshold>
</bounce>
<contact>
<ode>
<max_vel>0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
<geometry>
<sphere>
<radius>.0227</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<pose>0 -0.008 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://qt_pi_wheel/meshes/wheel.dae</uri>
<scale>0.056 0.056 0.056</scale>
</mesh>
</geometry>
</visual>
</link>
<link name="right_wheel">
<pose>-0.106 0.03 0.0227 0 0 -1.5707963267948966</pose>
<inertial>
<mass>10</mass>
</inertial>
<collision name="collision">
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.0</restitution_coefficient>
<threshold>0.01</threshold>
</bounce>
<contact>
<ode>
<max_vel>0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
<geometry>
<sphere>
<radius>0.0227</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://qt_pi_wheel/meshes/wheel.dae</uri>
<scale>0.056 0.056 0.056</scale>
</mesh>
</geometry>
</visual>
</link>
<joint type="revolute" name="left_wheel_hinge">
<pose>0 0 0 0 0 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="revolute" name="right_wheel_hinge">
<pose>0 0 0 0 0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<include>
<uri>model://kinect</uri>
<pose>0 -0.04 0.14 0 0 -1.5707963267948966</pose>
</include>
<joint name="kinect_joint" type="fixed">
<child>kinect::link</child>
<parent>chassis</parent>
</joint>
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
<alwaysOn>true</alwaysOn>
<updateRate>30</updateRate>
<leftJoint>left_wheel_hinge</leftJoint>
<robotNamespace>qt_pi</robotNamespace>
<rightJoint>right_wheel_hinge</rightJoint>
<wheelSeparation>0.4</wheelSeparation>
<wheelDiameter>0.2</wheelDiameter>
<publishWheelTF>1</publishWheelTF>
<wheelTorque>5</wheelTorque>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<robotBaseFrame>base_link</robotBaseFrame>
<odometryFrame>odom</odometryFrame>
<publishTf>1</publishTf>
<publishOdomTF>true</publishOdomTF>
<rosDebugLevel>1</rosDebugLevel>
<publishWheelJointState>false</publishWheelJointState>
<wheelAcceleration>0</wheelAcceleration>
</plugin>
</model>
</sdf>

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gazebo_sim/models/qt_pi_laser/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Qt Pi Laser</name>
<version>1.0</version>
<sdf version='1.5'>model.sdf</sdf>
<author>
<name>Rishabh Kundu</name>
<email>rishabh_kundu@rediffmail.com</email>
</author>
<description>
My Qt Pi.
</description>
</model>

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gazebo_sim/models/qt_pi_laser/model.sdf Normal file
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<?xml version='1.0'?>
<sdf version='1.5'>
<model name="qt_pi_laser">
<link name='chassis'>
<pose>0 0 0.0525 0 0 0</pose>
<inertial>
<mass>10</mass>
<pose>0 -0.02 -0.03 0 0 0</pose>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>.165 .156 .075</size>
</box>
</geometry>
</collision>
<visual name='visual'>
<pose>0 0.015 0.053 0 0 0</pose>
<geometry>
<mesh>
<uri>model://qt_pi_chassis/meshes/chassis.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='caster_collision'>
<pose>0 -0.065 -0.045 0 0 0</pose>
<geometry>
<sphere>
<radius>.0075</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0.0</restitution_coefficient>
<threshold>0.01</threshold>
</bounce>
<contact>
<ode>
<max_vel>0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='caster_visual'>
<pose>0 -0.065 -0.04 0 3.141592653589793 0</pose>
<geometry>
<mesh>
<uri>model://qt_pi_wheel/meshes/ball_castor.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
</visual>
</link>
<link name="left_wheel">
<pose>0.106 0.03 0.0227 0 0 -1.5707963267948966</pose>
<inertial>
<mass>10</mass>
</inertial>
<collision name="collision">
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.0</restitution_coefficient>
<threshold>0.01</threshold>
</bounce>
<contact>
<ode>
<max_vel>0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
<geometry>
<sphere>
<radius>.0227</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<pose>0 -0.008 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://qt_pi_wheel/meshes/wheel.dae</uri>
<scale>0.056 0.056 0.056</scale>
</mesh>
</geometry>
</visual>
</link>
<link name="right_wheel">
<pose>-0.106 0.03 0.0227 0 0 -1.5707963267948966</pose>
<inertial>
<mass>10</mass>
</inertial>
<collision name="collision">
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.0</restitution_coefficient>
<threshold>0.01</threshold>
</bounce>
<contact>
<ode>
<max_vel>0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
<geometry>
<sphere>
<radius>0.0227</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://qt_pi_wheel/meshes/wheel.dae</uri>
<scale>0.056 0.056 0.056</scale>
</mesh>
</geometry>
</visual>
</link>
<joint type="revolute" name="left_wheel_hinge">
<pose>0 0 0 0 0 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="revolute" name="right_wheel_hinge">
<pose>0 0 0 0 0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<include>
<uri>model://hokuyo</uri>
<pose>0 0 0.102 0 0 -1.5707963267948966</pose>
</include>
<joint name="hokuyo_joint" type="fixed">
<child>hokuyo::link</child>
<parent>chassis</parent>
</joint>
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
<alwaysOn>true</alwaysOn>
<updateRate>30</updateRate>
<leftJoint>left_wheel_hinge</leftJoint>
<robotNamespace>qt_pi</robotNamespace>
<rightJoint>right_wheel_hinge</rightJoint>
<wheelSeparation>0.4</wheelSeparation>
<wheelDiameter>0.2</wheelDiameter>
<publishWheelTF>0</publishWheelTF>
<wheelTorque>5</wheelTorque>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<robotBaseFrame>base_link</robotBaseFrame>
<odometryFrame>odom</odometryFrame>
<publishTf>1</publishTf>
<publishOdomTF>true</publishOdomTF>
<rosDebugLevel>1</rosDebugLevel>
<publishWheelJointState>false</publishWheelJointState>
<wheelAcceleration>0</wheelAcceleration>
</plugin>
</model>
</sdf>

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gazebo_sim/models/qt_pi_rgb/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Qt Pi RGB</name>
<version>1.0</version>
<sdf version='1.5'>model.sdf</sdf>
<author>
<name>Rishabh Kundu</name>
<email>rishabh_kundu@rediffmail.com</email>
</author>
<description>
My Qt Pi.
</description>
</model>

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gazebo_sim/models/qt_pi_rgb/model.sdf Normal file
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<?xml version='1.0'?>
<sdf version='1.5'>
<model name="qt_pi_rgb">
<link name='chassis'>
<pose>0 0 0.1 0 0 0</pose>
<inertial>
<mass>20</mass>
<pose>0.10 0 -0.05 0 0 0</pose>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>.4 .2 .1</size>
</box>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<box>
<size>.4 .2 .1</size>
</box>
</geometry>
</visual>
<collision name='caster_collision'>
<pose>0.15 0 -0.05 0 0 0</pose>
<geometry>
<sphere>
<radius>.05</radius>
</sphere>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0.0</restitution_coefficient>
<threshold>0.01</threshold>
</bounce>
<contact>
<ode>
<max_vel>0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='caster_visual'>
<pose>0.15 0 -0.05 0 0 0</pose>
<geometry>
<sphere>
<radius>.05</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="left_wheel">
<pose>-0.1 0.2 0.1 0 0 0</pose>
<inertial>
<mass>5</mass>
</inertial>
<collision name="collision">
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.0</restitution_coefficient>
<threshold>0.01</threshold>
</bounce>
<contact>
<ode>
<max_vel>0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
<geometry>
<sphere>
<radius>.1</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>.1</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="right_wheel">
<pose>-0.1 -0.2 0.1 0 0 0</pose>
<inertial>
<mass>5</mass>
</inertial>
<collision name="collision">
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.0</restitution_coefficient>
<threshold>0.01</threshold>
</bounce>
<contact>
<ode>
<max_vel>0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
<geometry>
<sphere>
<radius>.1</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>.1</radius>
</sphere>
</geometry>
</visual>
</link>
<joint type="revolute" name="left_wheel_hinge">
<pose>0 0 0 0 0 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="revolute" name="right_wheel_hinge">
<pose>0 0 0 0 0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<link name='cam_link'>
<pose>0.22 0 0.15 0 0.785 0</pose>
<inertial>
<mass>0.0001</mass>
</inertial>
<collision name='cam_collision'>
<geometry>
<box>
<size>.05 .05 .05</size>
</box>
</geometry>
</collision>
<visual name='cam_visual'>
<geometry>
<box>
<size>.05 .05 .05</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>648</width>
<height>488</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<!-- Noise is sampled independently per pixel on each frame.
That pixel's noise value is added to each of its color
channels, which at that point lie in the range [0,1]. -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>front_camera</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>
</link>
<joint name="cam_joint" type="fixed">
<child>cam_link</child>
<parent>chassis</parent>
</joint>
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
<alwaysOn>true</alwaysOn>
<updateRate>30</updateRate>
<leftJoint>left_wheel_hinge</leftJoint>
<robotNamespace>qt_pi</robotNamespace>
<rightJoint>right_wheel_hinge</rightJoint>
<wheelSeparation>0.4</wheelSeparation>
<wheelDiameter>0.2</wheelDiameter>
<publishWheelTF>1</publishWheelTF>
<wheelTorque>5</wheelTorque>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<robotBaseFrame>base_link</robotBaseFrame>
<odometryFrame>odom</odometryFrame>
<publishTf>1</publishTf>
<publishOdomTF>true</publishOdomTF>
<rosDebugLevel>1</rosDebugLevel>
<publishWheelJointState>false</publishWheelJointState>
<wheelAcceleration>0</wheelAcceleration>
</plugin>
</model>
</sdf>

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gazebo_sim/models/qt_pi_wheel/meshes/wheel.dae Normal file
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gazebo_sim/models/qt_pi_wheel/model.config Normal file
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<?xml version="1.0"?>
<model>
<version>1.0</version>
<name>qt_pi_wheel</name>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Rishabh Kundu</name>
<email>rishabhkundu@live.com</email>
</author>
<description>
A model of wheel for qt_pi.
</description>
</model>

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gazebo_sim/models/qt_pi_wheel/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="qt_pi_wheel">
<pose>0 0 0.25 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.1</mass>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>model://qt_pi_wheel/meshes/wheel.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

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gazebo_sim/models/sun/model-1_2.sdf Normal file
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<gazebo version='1.2'>
<!-- Light Source -->
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.5 -1.0</direction>
</light>
</gazebo>

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gazebo_sim/models/sun/model-1_3.sdf Normal file
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<sdf version='1.3'>
<!-- Light Source -->
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.5 -1.0</direction>
</light>
</sdf>

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gazebo_sim/models/sun/model-1_4.sdf Normal file
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<?xml version='1.0'?>
<sdf version='1.4'>
<!-- Light Source -->
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
</sdf>

19
gazebo_sim/models/sun/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Sun</name>
<version>1.0</version>
<sdf version="1.2">model-1_2.sdf</sdf>
<sdf version="1.3">model-1_3.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.org</email>
</author>
<description>
A directional light for the sun.
</description>
</model>

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gazebo_sim/models/sun/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<!-- Light Source -->
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
</sdf>

4
gazebo_sim/worlds/playground.world
View File

@ -1549,7 +1549,7 @@
</link> </link>
<static>1</static> <static>1</static>
</model> </model>
<model name='qt_pi'> <model name='qt_pi_kinect'>
<link name='chassis'> <link name='chassis'>
<pose frame=''>0 0 0.1 0 -0 0</pose> <pose frame=''>0 0 0.1 0 -0 0</pose>
<inertial> <inertial>
@ -2043,4 +2043,4 @@
</camera> </camera>
</gui> </gui>
</world> </world>
</sdf> </sdf>

6
gazebo_sim/worlds/qt_pi_laser.world
View File

@ -1549,7 +1549,7 @@
</link> </link>
<static>1</static> <static>1</static>
</model> </model>
<model name='qt_pi_laser'> <model name='qt_pi_kinect'>
<link name='chassis'> <link name='chassis'>
<pose frame=''>0 0 0.1 0 -0 0</pose> <pose frame=''>0 0 0.1 0 -0 0</pose>
<inertial> <inertial>
@ -2018,7 +2018,7 @@
<wrench>0 0 0 0 -0 0</wrench> <wrench>0 0 0 0 -0 0</wrench>
</link> </link>
</model> </model>
<model name='qt_pi_laser'> <model name='qt_pi_kinect'>
<pose frame=''>-0 0 0 0 0 0</pose> <pose frame=''>-0 0 0 0 0 0</pose>
<scale>1 1 1</scale> <scale>1 1 1</scale>
<link name='chassis'> <link name='chassis'>
@ -2058,4 +2058,4 @@
</camera> </camera>
</gui> </gui>
</world> </world>
</sdf> </sdf>