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2047 lines
60 KiB
Plaintext
2047 lines
60 KiB
Plaintext
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<name>Gazebo/Grey</name>
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|
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<ode>
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|
|
<radius>0.05</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='left_wheel'>
|
|
<pose frame=''>-0.1 0.2 0.1 0 -0 0</pose>
|
|
<inertial>
|
|
<mass>5</mass>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertia>
|
|
<ixx>1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>10</mu>
|
|
<mu2>10</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>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>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='right_wheel'>
|
|
<pose frame=''>-0.1 -0.2 0.1 0 -0 0</pose>
|
|
<inertial>
|
|
<mass>5</mass>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertia>
|
|
<ixx>1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>10</mu>
|
|
<mu2>10</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
</friction>
|
|
<bounce>
|
|
<restitution_coefficient>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>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<joint name='left_wheel_hinge' type='revolute'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<child>left_wheel</child>
|
|
<parent>chassis</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<joint name='right_wheel_hinge' type='revolute'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<child>right_wheel</child>
|
|
<parent>chassis</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<use_parent_model_frame>0</use_parent_model_frame>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<link name='kinect::link'>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertia>
|
|
<ixx>1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.073 0.276 0.072</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</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 name='__default__'>
|
|
<horizontal_fov>1.2215</horizontal_fov>
|
|
<image>
|
|
<width>640</width>
|
|
<height>480</height>
|
|
<format>R8G8B8</format>
|
|
</image>
|
|
<clip>
|
|
<near>0.05</near>
|
|
<far>100</far>
|
|
</clip>
|
|
</camera>
|
|
<plugin name='camera_plugin' filename='libgazebo_ros_openni_kinect.so'>
|
|
<robotNamespace>qt_pi</robotNamespace>
|
|
<baseline>0.2</baseline>
|
|
<alwaysOn>1</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>
|
|
<pointCloudCutoffMax>100</pointCloudCutoffMax>
|
|
<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>
|
|
<pose frame=''>0.2 0 0.2 0 -0 0</pose>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<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>1</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>1</publishOdomTF>
|
|
<rosDebugLevel>1</rosDebugLevel>
|
|
<publishWheelJointState>0</publishWheelJointState>
|
|
<wheelAcceleration>0</wheelAcceleration>
|
|
</plugin>
|
|
<pose frame=''>2.20517 -4.60502 0 0 -0 0</pose>
|
|
</model>
|
|
<state world_name='default'>
|
|
<sim_time>47 5000000</sim_time>
|
|
<real_time>47 576261785</real_time>
|
|
<wall_time>1554061633 217805104</wall_time>
|
|
<iterations>47005</iterations>
|
|
<model name='ground_plane'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='playground'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='Wall_10'>
|
|
<pose frame=''>0.007886 -3.91706 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_11'>
|
|
<pose frame=''>13.3079 0.007941 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_12'>
|
|
<pose frame=''>0.007886 3.93294 0 0 -0 3.14159</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_21'>
|
|
<pose frame=''>-9.18476 0.019386 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_23'>
|
|
<pose frame=''>-11.2579 -1.35252 0 0 -0 3.14159</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_25'>
|
|
<pose frame=''>-6.89009 -0.019386 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_27'>
|
|
<pose frame=''>-2.84009 1.17017 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_33'>
|
|
<pose frame=''>1.21568 0.006434 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_35'>
|
|
<pose frame=''>3.62057 -1.58539 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_36'>
|
|
<pose frame=''>6.04557 -2.76039 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_38'>
|
|
<pose frame=''>3.40806 1.10972 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_40'>
|
|
<pose frame=''>5.60318 1.67301 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_41'>
|
|
<pose frame=''>7.77818 2.72301 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_43'>
|
|
<pose frame=''>10.5278 0.085507 0 0 0 -0.523599</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_45'>
|
|
<pose frame=''>10.3472 -1.82517 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_9'>
|
|
<pose frame=''>-13.2921 0.007941 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='qt_pi'>
|
|
<pose frame=''>0 0 0 0 0 0</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='chassis'>
|
|
<pose frame=''>0 0 0.1 0 0 0</pose>
|
|
<velocity>0 0 0 0 0 0</velocity>
|
|
<acceleration>0 0 0 0 0 0</acceleration>
|
|
<wrench>0 0 0 0 0 0</wrench>
|
|
</link>
|
|
<link name='kinect::link'>
|
|
<pose frame=''>0.2 0 0.2 0 0 0</pose>
|
|
<velocity>0 -0 0 0 0 0</velocity>
|
|
<acceleration>-0 0 0 0 0 0</acceleration>
|
|
<wrench>-0 0 0 0 0 0</wrench>
|
|
</link>
|
|
<link name='left_wheel'>
|
|
<pose frame=''>-0.1 0.2 0.1 0 0 0</pose>
|
|
<velocity>0 -0 0 0 0 0</velocity>
|
|
<acceleration>0 0 0 0 0 0</acceleration>
|
|
<wrench>0 0 0 0 0 0</wrench>
|
|
</link>
|
|
<link name='right_wheel'>
|
|
<pose frame=''>-0.1 -0.2 0.1 0 0 0</pose>
|
|
<velocity>-0 0 0 0 0 0</velocity>
|
|
<acceleration>0 0 0 0 0 0</acceleration>
|
|
<wrench>-0 0 0 0 0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<light name='sun'>
|
|
<pose frame=''>0 0 10 0 0 0</pose>
|
|
</light>
|
|
</state>
|
|
<gui fullscreen='0'>
|
|
<camera name='user_camera'>
|
|
<pose frame=''>6.80207 -4.04261 25.2995 -4.6e-05 1.5698 1.10815</pose>
|
|
<view_controller>orbit</view_controller>
|
|
<projection_type>perspective</projection_type>
|
|
</camera>
|
|
</gui>
|
|
</world>
|
|
</sdf>
|