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iRobot.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from iRobot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="iRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- MODELS -->
<material name="iRobot/Green">
<color rgba="0.0 1.0 0.0 1.0"/>
</material>
<material name="iRobot/Yellow">
<color rgba="1.0 1.0 0.0 1.0"/>
</material>
<material name="iRobot/LightYellow">
<color rgba="1.0 1.0 0.6 1.0"/>
</material>
<material name="iRobot/Blue">
<color rgba="0.0 0.0 1.0 1.0"/>
</material>
<material name="iRobot/LightBlue">
<color rgba="0.6 0.79 1.0 1.0"/>
</material>
<material name="iRobot/DarkGrey">
<color rgba="0.31 0.31 0.31 1.0"/>
</material>
<material name="iRobot/LightGrey">
<color rgba="0.83 0.83 0.83 1.0"/>
</material>
<material name="iRobot/MediumGrey">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
<material name="iRobot/Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="iRobot/Red">
<color rgba="1.0 0.0 0.0 1.0"/>
</material>
<material name="iRobot/Orange">
<color rgba="1.0 0.65 0.0 1.0"/>
</material>
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<joint name="base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="chassis"/>
</joint>
<link name="chassis">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="0.425" ixy="0.0" ixz="0.0" iyy="0.425" iyz="0.0" izz="0.85"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.17"/>
</geometry>
<material name="iRobot/LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.17"/>
</geometry>
</collision>
</link>
<joint name="left_axis_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.14 -0.02"/>
<parent link="chassis"/>
<child link="left_axis"/>
</joint>
<link name="left_axis">
<inertial>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="6.25e-07" ixy="0.0" ixz="0.0" iyy="6.25e-07" iyz="0.0" izz="2.08333333333e-07"/>
</inertial>
<visual>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.0025"/>
</geometry>
<material name="iRobot/MediumGray"/>
</visual>
<collision>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.0025"/>
</geometry>
</collision>
</link>
<gazebo reference="left_axis_axis">
<gravity>true</gravity>
<material>Gazebo/Red</material>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<joint name="left_wheel_rot_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
<parent link="left_axis"/>
<child link="left_wheel_link"/>
</joint>
<link name="left_wheel_link">
<inertial>
<origin rpy="-1.57079632679 0 0" xyz="0 0.01 0"/>
<mass value="0.5"/>
<inertia ixx="0.00375" ixy="0.0" ixz="0.0" iyy="0.00375" iyz="0.0" izz="0.00125"/>
</inertial>
<visual>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.03"/>
</geometry>
<material name="iRobot/Black"/>
</visual>
<collision>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.03"/>
</geometry>
</collision>
</link>
<gazebo reference="left_wheel_link">
<gravity>true</gravity>
<material>Gazebo/Grey</material>
<mu1>50</mu1>
<mu2>10</mu2>
<kp>10000000</kp>
<kd>1</kd>
<fdir1>1 0 0</fdir1>
<minDepth>0.0001</minDepth>
<maxContacts>1</maxContacts>
</gazebo>
<joint name="right_axis_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.14 -0.02"/>
<parent link="chassis"/>
<child link="right_axis"/>
</joint>
<link name="right_axis">
<inertial>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="6.25e-07" ixy="0.0" ixz="0.0" iyy="6.25e-07" iyz="0.0" izz="2.08333333333e-07"/>
</inertial>
<visual>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.0025"/>
</geometry>
<material name="iRobot/MediumGray"/>
</visual>
<collision>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.0025"/>
</geometry>
</collision>
</link>
<gazebo reference="right_axis_axis">
<gravity>true</gravity>
<material>Gazebo/Red</material>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<joint name="right_wheel_rot_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
<parent link="right_axis"/>
<child link="right_wheel_link"/>
</joint>
<link name="right_wheel_link">
<inertial>
<origin rpy="-1.57079632679 0 0" xyz="0 0.01 0"/>
<mass value="0.5"/>
<inertia ixx="0.00375" ixy="0.0" ixz="0.0" iyy="0.00375" iyz="0.0" izz="0.00125"/>
</inertial>
<visual>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.03"/>
</geometry>
<material name="iRobot/Black"/>
</visual>
<collision>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.03"/>
</geometry>
</collision>
</link>
<gazebo reference="right_wheel_link">
<gravity>true</gravity>
<material>Gazebo/Grey</material>
<mu1>50</mu1>
<mu2>10</mu2>
<kp>10000000</kp>
<kd>1</kd>
<fdir1>1 0 0</fdir1>
<minDepth>0.0001</minDepth>
<maxContacts>1</maxContacts>
</gazebo>
<joint name="sphere_joint1" type="revolute">
<origin rpy="0 0 0" xyz="0.14 0 -0.04"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="0" upper="0" velocity="100"/>
<parent link="chassis"/>
<child link="sphere1"/>
</joint>
<link name="sphere1">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.3"/>
<inertia ixx="0.0012" ixy="0.0" ixz="0.0" iyy="0.0012" iyz="0.0" izz="0.0012"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="iRobot/Black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
</collision>
</link>
<joint name="sphere_joint2" type="revolute">
<origin rpy="0 0 0" xyz="-0.14 0 -0.04"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="0" upper="0" velocity="100"/>
<parent link="chassis"/>
<child link="sphere2"/>
</joint>
<link name="sphere2">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.3"/>
<inertia ixx="0.0012" ixy="0.0" ixz="0.0" iyy="0.0012" iyz="0.0" izz="0.0012"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="iRobot/Black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
</collision>
</link>
<!-- Laser link and plugin -->
<joint name="hokuyo_laser_joint" type="fixed">
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0 0 0.06"/>
<parent link="base_link"/>
<child link="hokuyo_laser_link"/>
</joint>
<link name="hokuyo_laser_link">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.045"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.045"/>
</geometry>
<material name="iRobot/LightBlue"/>
</visual>
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<gazebo reference="hokuyo_laser_link">
<gravity>true</gravity>
<sensor name="head_hokuyo_sensor" type="ray">
<pose>0 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>-3.14159</min_angle>
<max_angle>3.14159</max_angle>
</horizontal>
</scan>
<range>
<min>0.2</min>
<max>40</max>
<resolution>0.025</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.0</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller">
<robotNamespace/>
<topicName>laser_scan</topicName>
<frameName>hokuyo_laser_link</frameName>
</plugin>
</sensor>
</gazebo>
<!--Imu link and plugin-->
<joint name="imu_sensor_joint" type="fixed">
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="-0.1 0 0.05"/>
<parent link="base_link"/>
<child link="imu_sensor_link"/>
</joint>
<link name="imu_sensor_link">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.02 0.02 0.02"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.02 0.02 0.02"/>
</geometry>
<material name="iRobot/Red"/>
</visual>
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.00000015" ixy="0" ixz="0" iyy="0.00000015" iyz="0" izz="0.00000015"/>
</inertial>
</link>
<gazebo reference="imu_sensor_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>1000</update_rate>
<visualize>1</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>imu_data</topicName>
<bodyName>imu_sensor_link</bodyName>
<updateRateHZ>10.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!--Camera link and plugin-->
<joint name="camera_sensor_joint" type="fixed">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.02 0.08 0.05"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.02 0.08 0.05"/>
</geometry>
<material name="iRobot/Green"/>
</visual>
<inertial>
<mass value="0.0001"/>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<inertia ixx="0.0000001" ixy="0" ixz="0" iyy="0.0000001" iyz="0" izz="0.0000001"/>
</inertial>
</link>
<gazebo reference="camera_link">
<sensor name="camera" type="camera">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>600</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>iRobot/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>
</gazebo>
<!-- <xacro:model_shelf name="first_shelf"
parent="chassis"
height="0.15">
</xacro:model_shelf>-->
<!-- <xacro:model_shelf name="second_shelf"
parent="first_shelf"
height="0.25">
</xacro:model_shelf>
-->
<gazebo reference="base_link">
</gazebo>
<gazebo reference="ground">
</gazebo>
<gazebo reference="sphere1">
<gravity>true</gravity>
<material>Gazebo/Grey</material>
<mu1>0</mu1>
<mu2>0</mu2>
<kp>10000000</kp>
<kd>1</kd>
<fdir1>1 0 0</fdir1>
<minDepth>0.0001</minDepth>
<maxContacts>1</maxContacts>
</gazebo>
<gazebo reference="sphere2">
<gravity>true</gravity>
<material>Gazebo/Grey</material>
<mu1>0</mu1>
<mu2>0</mu2>
<kp>10000000</kp>
<kd>1</kd>
<fdir1>1 0 0</fdir1>
<minDepth>0.0001</minDepth>
<maxContacts>1</maxContacts>
</gazebo>
<gazebo reference="chassis">
<gravity>true</gravity>
<material>Gazebo/Yellow</material>
</gazebo>
<gazebo>
<static>false</static>
<plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
<rosDebugLevel>Debug</rosDebugLevel>
<publishWheelTF>false</publishWheelTF>
<publishWheelJointState>true</publishWheelJointState>
<alwaysOn>true</alwaysOn>
<leftJoint>left_wheel_rot_joint</leftJoint>
<rightJoint>right_wheel_rot_joint</rightJoint>
<wheelSeparation>0.28</wheelSeparation>
<wheelDiameter>0.06</wheelDiameter>
<torque>20</torque>
<wheelAcceleration>1.8</wheelAcceleration>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometrySource>encoder</odometrySource>
<robotBaseFrame>base_link</robotBaseFrame>
<updateRate>10.0</updateRate>
</plugin>
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="joint_state_publisher">
<jointName>left_wheel_rot_joint, right_wheel_rot_joint</jointName>
<updateRate>10.0</updateRate>
<alwaysOn>true</alwaysOn>
</plugin>
<plugin filename="libgazebo_ros_imu.so" name="imu_plugin">
<bodyName>base_link</bodyName>
<updateRate>100.0</updateRate>
<topicName>imu_data</topicName>
<serviceName>imu_service</serviceName>
<gaussianNoise>0.1</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
</plugin>
</gazebo>
</robot>