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Added Gazebo Sim model files
This commit is contained in:
yikestone
parent
c4cae9f087
commit
2fd7b5ac56
@ -1,7 +1,7 @@
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<launch>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find qt_pi_gazebo_sim)/worlds/qt_pi_laser.world"/>
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<arg name="world_name" value="$(find qt_pi_gazebo_sim)/worlds/playground.world"/>
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</include>
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<!-- <include file="$(find qt_pi_gazebo_sim)/launch/depth_to_laser.launch"/> -->
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<include file="$(find qt_pi_gazebo_sim)/launch/static_tf.launch"/>
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39
gazebo_sim/models/ground_plane/model-1_2.sdf
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39
gazebo_sim/models/ground_plane/model-1_2.sdf
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<?xml version="1.0"?>
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<gazebo version="1.2">
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</gazebo>
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39
gazebo_sim/models/ground_plane/model-1_3.sdf
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39
gazebo_sim/models/ground_plane/model-1_3.sdf
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<?xml version="1.0"?>
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<sdf version="1.3">
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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39
gazebo_sim/models/ground_plane/model-1_4.sdf
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39
gazebo_sim/models/ground_plane/model-1_4.sdf
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<?xml version="1.0"?>
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<sdf version="1.4">
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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19
gazebo_sim/models/ground_plane/model.config
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19
gazebo_sim/models/ground_plane/model.config
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<?xml version="1.0"?>
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<model>
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<name>Ground Plane</name>
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<version>1.0</version>
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<sdf version="1.2">model-1_2.sdf</sdf>
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<sdf version="1.3">model-1_3.sdf</sdf>
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<sdf version="1.4">model-1_4.sdf</sdf>
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<sdf version="1.5">model.sdf</sdf>
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<author>
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<name>Nate Koenig</name>
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<email>nate@osrfoundation.org</email>
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</author>
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<description>
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A simple ground plane.
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</description>
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</model>
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39
gazebo_sim/models/ground_plane/model.sdf
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39
gazebo_sim/models/ground_plane/model.sdf
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@ -0,0 +1,39 @@
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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253
gazebo_sim/models/hokuyo/meshes/hokuyo.dae
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253
gazebo_sim/models/hokuyo/meshes/hokuyo.dae
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File diff suppressed because one or more lines are too long
BIN
gazebo_sim/models/hokuyo/meshes/hokuyo_convex.stl
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BIN
gazebo_sim/models/hokuyo/meshes/hokuyo_convex.stl
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Binary file not shown.
41
gazebo_sim/models/hokuyo/model-1_2.sdf
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gazebo_sim/models/hokuyo/model-1_2.sdf
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<?xml version="1.0" ?>
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<gazebo version="1.2">
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<model name="hokuyo">
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<link name="link">
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<gravity>false</gravity>
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<inertial>
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<mass>0.1</mass>
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</inertial>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://hokuyo/meshes/hokuyo.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<sensor name="laser" type="ray">
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<pose>0.01 0 0.03 0 -0 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>640</samples>
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<resolution>1</resolution>
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<min_angle>-2.26889</min_angle>
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<max_angle>2.268899</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.08</min>
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<max>10</max>
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<resolution>0.01</resolution>
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</range>
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</ray>
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<plugin name="laser" filename="libRayPlugin.so" />
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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</sensor>
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</link>
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</model>
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</gazebo>
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62
gazebo_sim/models/hokuyo/model-1_3.sdf
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62
gazebo_sim/models/hokuyo/model-1_3.sdf
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@ -0,0 +1,62 @@
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<?xml version="1.0" ?>
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<sdf version="1.3">
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<model name="hokuyo">
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<pose>0 0 0.035 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.1</mass>
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</inertial>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://hokuyo/meshes/hokuyo.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name="collision-base">
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<pose>0 0 -0.0145 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 0.041</size>
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</box>
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</geometry>
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</collision>
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<collision name="collision-top">
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<pose>0 0 0.0205 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.021</radius>
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<length>0.029</length>
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</cylinder>
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</geometry>
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</collision>
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<sensor name="laser" type="ray">
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<pose>0.01 0 0.0175 0 -0 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>640</samples>
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<resolution>1</resolution>
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<min_angle>-2.26889</min_angle>
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<max_angle>2.268899</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.08</min>
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<max>10</max>
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<resolution>0.01</resolution>
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</range>
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</ray>
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<plugin name="laser" filename="libRayPlugin.so" />
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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</sensor>
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</link>
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</model>
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</sdf>
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62
gazebo_sim/models/hokuyo/model-1_4.sdf
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gazebo_sim/models/hokuyo/model-1_4.sdf
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@ -0,0 +1,62 @@
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<model name="hokuyo">
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<pose>0 0 0.035 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.1</mass>
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</inertial>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://hokuyo/meshes/hokuyo.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name="collision-base">
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<pose>0 0 -0.0145 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 0.041</size>
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</box>
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</geometry>
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</collision>
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<collision name="collision-top">
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<pose>0 0 0.0205 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.021</radius>
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<length>0.029</length>
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</cylinder>
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</geometry>
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</collision>
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<sensor name="laser" type="ray">
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<pose>0.01 0 0.0175 0 -0 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>640</samples>
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<resolution>1</resolution>
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<min_angle>-2.26889</min_angle>
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<max_angle>2.268899</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.08</min>
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<max>10</max>
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<resolution>0.01</resolution>
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</range>
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</ray>
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<plugin name="laser" filename="libRayPlugin.so" />
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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</sensor>
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</link>
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</model>
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</sdf>
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16
gazebo_sim/models/hokuyo/model.config
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16
gazebo_sim/models/hokuyo/model.config
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<?xml version="1.0"?>
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<model>
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<name>Hokuyo</name>
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<version>1.0</version>
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<sdf version="1.5">model.sdf</sdf>
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<author>
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<name>John Hsu</name>
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<email>hsu@osrfoundation.org</email>
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</author>
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<description>
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Hokuyo model
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</description>
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</model>
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63
gazebo_sim/models/hokuyo/model.sdf
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gazebo_sim/models/hokuyo/model.sdf
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="hokuyo">
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<pose>0 0 0.035 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.1</mass>
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</inertial>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://hokuyo/meshes/hokuyo.dae</uri>
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<scale>0.5 0.5 0.5</scale>
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</mesh>
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</geometry>
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</visual>
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<collision name="collision-base">
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<pose>0 0 -0.0145 0 0 0</pose>
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<geometry>
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<box>
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<size>0.025 0.025 0.0205</size>
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</box>
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</geometry>
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</collision>
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<collision name="collision-top">
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<pose>0 0 0.0205 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.0105</radius>
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<length>0.0145</length>
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</cylinder>
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</geometry>
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</collision>
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<sensor name="laser" type="ray">
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<pose>0.01 0 0.0175 0 -0 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>640</samples>
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<resolution>1</resolution>
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<min_angle>-2.26889</min_angle>
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<max_angle>2.268899</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.08</min>
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<max>10</max>
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<resolution>0.01</resolution>
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</range>
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</ray>
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<plugin name="laser" filename="libgazebo_ros_laser.so">
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<topicName>scan</topicName>
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<frameName>laser</frameName>
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<always_on>1</always_on>
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<robotNamespace>qt_pi</robotNamespace>
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<update_rate>15</update_rate>
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</plugin>
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<update_rate>15</update_rate>
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<visualize>true</visualize>
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</sensor>
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</link>
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</model>
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</sdf>
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BIN
gazebo_sim/models/kinect/materials/textures/kinect.png
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BIN
gazebo_sim/models/kinect/materials/textures/kinect.png
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Binary file not shown.
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After Width: | Height: | Size: 3.3 KiB |
174
gazebo_sim/models/kinect/meshes/kinect.dae
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174
gazebo_sim/models/kinect/meshes/kinect.dae
Normal file
File diff suppressed because one or more lines are too long
42
gazebo_sim/models/kinect/model-1_2.sdf
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42
gazebo_sim/models/kinect/model-1_2.sdf
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<?xml version="1.0" ?>
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<gazebo version="1.2">
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<model name="kinect">
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<pose>0 0 0.036 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.1</mass>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.073000 0.276000 0.072000</size>
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</box>
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||||
</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>
|
||||
41
gazebo_sim/models/kinect/model-1_3.sdf
Normal file
41
gazebo_sim/models/kinect/model-1_3.sdf
Normal file
@ -0,0 +1,41 @@
|
||||
<?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>
|
||||
41
gazebo_sim/models/kinect/model-1_4.sdf
Normal file
41
gazebo_sim/models/kinect/model-1_4.sdf
Normal file
@ -0,0 +1,41 @@
|
||||
<?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>
|
||||
15
gazebo_sim/models/kinect/model.config
Normal file
15
gazebo_sim/models/kinect/model.config
Normal file
@ -0,0 +1,15 @@
|
||||
<?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>
|
||||
64
gazebo_sim/models/kinect/model.sdf
Normal file
64
gazebo_sim/models/kinect/model.sdf
Normal file
@ -0,0 +1,64 @@
|
||||
<?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>
|
||||
16
gazebo_sim/models/path/materials/scripts/path.material
Normal file
16
gazebo_sim/models/path/materials/scripts/path.material
Normal file
@ -0,0 +1,16 @@
|
||||
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
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
BIN
gazebo_sim/models/path/materials/textures/path.png
Normal file
BIN
gazebo_sim/models/path/materials/textures/path.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 85 KiB |
15
gazebo_sim/models/path/model.config
Normal file
15
gazebo_sim/models/path/model.config
Normal file
@ -0,0 +1,15 @@
|
||||
<?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>
|
||||
40
gazebo_sim/models/path/model.sdf
Normal file
40
gazebo_sim/models/path/model.sdf
Normal file
@ -0,0 +1,40 @@
|
||||
<?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>
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 83 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 259 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 88 KiB |
BIN
gazebo_sim/models/pioneer2dx/materials/textures/create_body.png
Normal file
BIN
gazebo_sim/models/pioneer2dx/materials/textures/create_body.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 18 KiB |
BIN
gazebo_sim/models/pioneer2dx/materials/textures/plate_0_logo.png
Normal file
BIN
gazebo_sim/models/pioneer2dx/materials/textures/plate_0_logo.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 25 KiB |
BIN
gazebo_sim/models/pioneer2dx/materials/textures/plate_1_logo.png
Normal file
BIN
gazebo_sim/models/pioneer2dx/materials/textures/plate_1_logo.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 33 KiB |
BIN
gazebo_sim/models/pioneer2dx/materials/textures/plate_2_logo.png
Normal file
BIN
gazebo_sim/models/pioneer2dx/materials/textures/plate_2_logo.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 30 KiB |
375
gazebo_sim/models/pioneer2dx/meshes/chassis.dae
Normal file
375
gazebo_sim/models/pioneer2dx/meshes/chassis.dae
Normal file
File diff suppressed because one or more lines are too long
259
gazebo_sim/models/pioneer2dx/meshes/wheel.dae
Normal file
259
gazebo_sim/models/pioneer2dx/meshes/wheel.dae
Normal file
File diff suppressed because one or more lines are too long
157
gazebo_sim/models/pioneer2dx/model-1_2.sdf
Normal file
157
gazebo_sim/models/pioneer2dx/model-1_2.sdf
Normal file
@ -0,0 +1,157 @@
|
||||
<?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>
|
||||
157
gazebo_sim/models/pioneer2dx/model-1_3.sdf
Normal file
157
gazebo_sim/models/pioneer2dx/model-1_3.sdf
Normal file
@ -0,0 +1,157 @@
|
||||
<?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>
|
||||
181
gazebo_sim/models/pioneer2dx/model-1_4.sdf
Normal file
181
gazebo_sim/models/pioneer2dx/model-1_4.sdf
Normal file
@ -0,0 +1,181 @@
|
||||
<?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
22
gazebo_sim/models/pioneer2dx/model.config
Normal file
@ -0,0 +1,22 @@
|
||||
<?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
181
gazebo_sim/models/pioneer2dx/model.sdf
Normal file
@ -0,0 +1,181 @@
|
||||
<?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
11
gazebo_sim/models/playground/model.config
Normal file
@ -0,0 +1,11 @@
|
||||
<?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
929
gazebo_sim/models/playground/model.sdf
Normal file
@ -0,0 +1,929 @@
|
||||
<?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>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.15 0.5</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_3'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>-1.79442 0 2.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='Wall_21_Visual_4'>
|
||||
<pose frame=''>2.6708 0 2.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.15 0.5</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_4'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>2.6708 0 2.25 0 -0 0</pose>
|
||||
</collision>
|
||||
</link>
|
||||
<link name='Wall_23'>
|
||||
<collision name='Wall_23_Collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>4.25 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='Wall_23_Visual'>
|
||||
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>4.25 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=''>-11.2579 -1.35252 0 0 -0 3.14159</pose>
|
||||
</link>
|
||||
<link name='Wall_25'>
|
||||
<pose frame=''>-6.89009 -0.019386 0 0 0 -1.5708</pose>
|
||||
<visual name='Wall_25_Visual_0'>
|
||||
<pose frame=''>-2.05546 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.88908 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_25_Collision_0'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.88908 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>-2.05546 0 1.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='Wall_25_Visual_1'>
|
||||
<pose frame=''>2.39454 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.21092 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_25_Collision_1'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.21092 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>2.39454 0 1.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='Wall_25_Visual_2'>
|
||||
<pose frame=''>0.339077 0 2.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.15 0.5</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_25_Collision_2'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>0.339077 0 2.25 0 -0 0</pose>
|
||||
</collision>
|
||||
</link>
|
||||
<link name='Wall_27'>
|
||||
<pose frame=''>-2.84009 1.17017 0 0 -0 0</pose>
|
||||
<visual name='Wall_27_Visual_0'>
|
||||
<pose frame=''>-2.27097 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.70805 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_27_Collision_0'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.70805 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>-2.27097 0 1.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='Wall_27_Visual_1'>
|
||||
<pose frame=''>2.30403 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.64195 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_27_Collision_1'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.64195 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>2.30403 0 1.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='Wall_27_Visual_2'>
|
||||
<pose frame=''>0.033055 0 2.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.15 0.5</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_27_Collision_2'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>0.033055 0 2.25 0 -0 0</pose>
|
||||
</collision>
|
||||
</link>
|
||||
<link name='Wall_33'>
|
||||
<pose frame=''>1.21568 0.006434 0 0 -0 1.5708</pose>
|
||||
<visual name='Wall_33_Visual_0'>
|
||||
<pose frame=''>-2.30688 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.38624 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_33_Collision_0'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.38624 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>-2.30688 0 1.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='Wall_33_Visual_1'>
|
||||
<pose frame=''>2.14312 0 1.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.71376 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_33_Collision_1'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>3.71376 0.15 2.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<pose frame=''>2.14312 0 1.25 0 -0 0</pose>
|
||||
</collision>
|
||||
<visual name='Wall_33_Visual_2'>
|
||||
<pose frame=''>-0.163762 0 2.25 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.9 0.15 0.5</size>
|
||||
</box>
|
||||
</geometry>
|
||||
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|
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||||
<link name='Wall_9'>
|
||||
<collision name='Wall_9_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_9_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=''>-13.2921 0.007941 0 0 0 -1.5708</pose>
|
||||
</link>
|
||||
<static>1</static>
|
||||
</model>
|
||||
</sdf>
|
||||
4124
gazebo_sim/models/qt_pi_chassis/meshes/chassis.dae
Normal file
4124
gazebo_sim/models/qt_pi_chassis/meshes/chassis.dae
Normal file
File diff suppressed because one or more lines are too long
15
gazebo_sim/models/qt_pi_chassis/model.config
Normal file
15
gazebo_sim/models/qt_pi_chassis/model.config
Normal file
@ -0,0 +1,15 @@
|
||||
<?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
18
gazebo_sim/models/qt_pi_chassis/model.sdf
Normal file
@ -0,0 +1,18 @@
|
||||
<?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>
|
||||
15
gazebo_sim/models/qt_pi_kinect/model.config
Normal file
15
gazebo_sim/models/qt_pi_kinect/model.config
Normal file
@ -0,0 +1,15 @@
|
||||
<?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>
|
||||
206
gazebo_sim/models/qt_pi_kinect/model.sdf
Normal file
206
gazebo_sim/models/qt_pi_kinect/model.sdf
Normal file
@ -0,0 +1,206 @@
|
||||
<?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>
|
||||
15
gazebo_sim/models/qt_pi_laser/model.config
Normal file
15
gazebo_sim/models/qt_pi_laser/model.config
Normal file
@ -0,0 +1,15 @@
|
||||
<?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>
|
||||
207
gazebo_sim/models/qt_pi_laser/model.sdf
Normal file
207
gazebo_sim/models/qt_pi_laser/model.sdf
Normal file
@ -0,0 +1,207 @@
|
||||
<?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>
|
||||
15
gazebo_sim/models/qt_pi_rgb/model.config
Normal file
15
gazebo_sim/models/qt_pi_rgb/model.config
Normal file
@ -0,0 +1,15 @@
|
||||
<?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>
|
||||
260
gazebo_sim/models/qt_pi_rgb/model.sdf
Normal file
260
gazebo_sim/models/qt_pi_rgb/model.sdf
Normal file
@ -0,0 +1,260 @@
|
||||
<?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>
|
||||
6460
gazebo_sim/models/qt_pi_wheel/meshes/ball_castor.dae
Normal file
6460
gazebo_sim/models/qt_pi_wheel/meshes/ball_castor.dae
Normal file
File diff suppressed because one or more lines are too long
169
gazebo_sim/models/qt_pi_wheel/meshes/wheel.dae
Normal file
169
gazebo_sim/models/qt_pi_wheel/meshes/wheel.dae
Normal file
File diff suppressed because one or more lines are too long
15
gazebo_sim/models/qt_pi_wheel/model.config
Normal file
15
gazebo_sim/models/qt_pi_wheel/model.config
Normal file
@ -0,0 +1,15 @@
|
||||
<?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>
|
||||
19
gazebo_sim/models/qt_pi_wheel/model.sdf
Normal file
19
gazebo_sim/models/qt_pi_wheel/model.sdf
Normal file
@ -0,0 +1,19 @@
|
||||
<?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>
|
||||
19
gazebo_sim/models/sun/model-1_2.sdf
Normal file
19
gazebo_sim/models/sun/model-1_2.sdf
Normal file
@ -0,0 +1,19 @@
|
||||
<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>
|
||||
19
gazebo_sim/models/sun/model-1_3.sdf
Normal file
19
gazebo_sim/models/sun/model-1_3.sdf
Normal file
@ -0,0 +1,19 @@
|
||||
<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>
|
||||
20
gazebo_sim/models/sun/model-1_4.sdf
Normal file
20
gazebo_sim/models/sun/model-1_4.sdf
Normal file
@ -0,0 +1,20 @@
|
||||
<?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
19
gazebo_sim/models/sun/model.config
Normal file
@ -0,0 +1,19 @@
|
||||
<?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>
|
||||
17
gazebo_sim/models/sun/model.sdf
Normal file
17
gazebo_sim/models/sun/model.sdf
Normal file
@ -0,0 +1,17 @@
|
||||
<?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>
|
||||
@ -1549,7 +1549,7 @@
|
||||
</link>
|
||||
<static>1</static>
|
||||
</model>
|
||||
<model name='qt_pi'>
|
||||
<model name='qt_pi_kinect'>
|
||||
<link name='chassis'>
|
||||
<pose frame=''>0 0 0.1 0 -0 0</pose>
|
||||
<inertial>
|
||||
|
||||
@ -1549,7 +1549,7 @@
|
||||
</link>
|
||||
<static>1</static>
|
||||
</model>
|
||||
<model name='qt_pi_laser'>
|
||||
<model name='qt_pi_kinect'>
|
||||
<link name='chassis'>
|
||||
<pose frame=''>0 0 0.1 0 -0 0</pose>
|
||||
<inertial>
|
||||
@ -2018,7 +2018,7 @@
|
||||
<wrench>0 0 0 0 -0 0</wrench>
|
||||
</link>
|
||||
</model>
|
||||
<model name='qt_pi_laser'>
|
||||
<model name='qt_pi_kinect'>
|
||||
<pose frame=''>-0 0 0 0 0 0</pose>
|
||||
<scale>1 1 1</scale>
|
||||
<link name='chassis'>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user