autoRallyPlatform.urdf.xacro

<?xml version="1.0"?>

<!-- autoRallyPlatform.urdf.xacro

This file defines a model of the AutoRally autonomous vehicle platform. It is 
derived from the ackermann_vehicle_gazebo ROS package available at
http://wiki.ros.org/ackermann_vehicle_gazebo

Lengths are measured in meters, angles are measured in radians, and masses are
measured in kilograms. All of these values are approximations.

To work with Gazebo, each link must have an inertial element, even if
the link only serves to connect two joints. To be visible in Gazebo, a link
must have a collision element. Furthermore, the link must have a Gazebo
material.

Copyright (c) 2011-2014 Wunderkammer Laboratory

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

  http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<robot name="autorally_platform" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- Degree-to-radian conversions -->
  <xacro:property name="degrees_45" value="0.785398163"/>
  <xacro:property name="degrees_21" value="0.3665191429"/>
  <xacro:property name="degrees_90" value="1.57079633"/>

  <!-- chassis_length is measured along the x axis, chassis_width
       along the y axis, and chassis_height along the z axis. -->
  <xacro:property name="chassis_length" value="0.90"/>
  <xacro:property name="chassis_width" value="0.25"/>
  <xacro:property name="chassis_height" value="0.25"/>
  <xacro:property name="chassis_mass" value="20.5"/>
  <xacro:property name="chassis_cm_height" value="0.12"/>
  <xacro:property name="chassis_cm_to_rear_shock" value="0.23"/>
  <xacro:property name="chassis_cm_to_front_shock" value="0.34"/>


  <!-- hub_dia and tire_dia are the diameters of the hub and tire,
       respectively. hex_hub_depth is the distance that the hex hub is
       inset from the outer edge of the tire. It is set so that each wheel
       is a "zero offset" wheel. hex_hub_depth = tire_width / 2 -
       axle_length. -->
  <xacro:property name="hub_dia" value="0.024"/>
  <xacro:property name="tire_dia" value="0.19"/>
  <!-- <xacro:property name="hex_hub_depth" value="0.0"/>  -->
  <xacro:property name="front_tire_width" value="0.072644"/>
  <xacro:property name="front_wheel_mass" value="0.82"/>
  <xacro:property name="rear_tire_width" value="0.0762"/>
  <xacro:property name="rear_wheel_mass" value="0.89"/>

  <!-- hex_hub_dist is the distance between left and right hex hubs when
       the shock absorbers are fully extended. axle_length is the distance
       from a U joint to the corresponding hex hub. wheel_travel is the
       vertical wheel travel. -->
  <xacro:property name="wheelbase" value="0.570"/>
  <xacro:property name="hex_hub_dist" value="0.4"/>
  <!-- <xacro:property name="axle_length" value="0.03"/> -->
  <!--<xacro:property name="wheel_travel" value="0.1"/>
  <xacro:property name="shock_z_offset" value="0.11"/> -->
  
  <xacro:property name="front_wheel_travel" value="0.1"/>
  <xacro:property name="front_shock_z_offset" value="0.11"/>
  <xacro:property name="rear_wheel_travel" value="0.11"/>
  <xacro:property name="rear_shock_z_offset" value="0.12"/>

  <!-- shock_eff_limit is 2 * ((shock_stroke / 2) * shock_spring_constant) N.
       For shock_spring_constants, refer to 
       autoRallyPlatformJointCtrlrParams.yaml for spring's constants -->
  <!-- front shock: 2 * ((0.06 / 2) * 3152.28303) = 189.1369818-->
  <!-- rear shock: 2 * ((0.07 / 2) * 4234.88528273) = 296.441969791-->
  <xacro:property name="front_shock_eff_limit" value="189.1369818"/>
  <xacro:property name="rear_shock_eff_limit" value="296.441969791"/>
  <xacro:property name="shock_vel_limit" value="1000"/>

  <!-- The specifications for a Titan(R) 550 motor could not be found, so the
       stall torque of a Mabuchi Motor(R) RS-550VC-7525 motor was used instead.

       num_spur_gear_teeth = 68
       num_pinion_gear_teeth = 19
       final_gear_ratio = (num_spur_gear_teeth / num_pinion_gear_teeth) *
         5.22 = 18.68
       stall_torque = 0.549 N m
       axle_eff_limit = ((2 * stall_torque) * final_gear_ratio) / 4 =
         5.12766 N m

       max_speed = 60mph = 26.82 m/s
       axle_vel_limit = (2 * pi) * (max_speed / (pi * tire_dia)) =
          2*26.82/0.19 = 282.315789474 rad/s           
       -->
  <xacro:property name="front_axle_eff_limit" value="2"/>
  <xacro:property name="rear_axle_eff_limit" value="8"/>
  <xacro:property name="axle_vel_limit" value="282.315789474"/>

  <!-- These constants are used to simulate a  Savox SV-0235MG servo operated at
       7.4 V. servo_stall_torque is measured in N m. servo_no_load_speed is
       measured in rad/s. -->
  <!-- produces 486.1 oz-in = 3.432620346181713 n-m of torque -->
  <!-- no load speed 0.13 sec/60 deg -> (1/0.13)*60 deg/sec = 8.05536578 rad/s -->
  <xacro:property name="servo_stall_torque" value="3.432620346181713"/>
  <xacro:property name="servo_no_load_speed" value="8.05536578"/>

  <material name="chassis_mat">
    <color rgba="0.5 0.5 0.5 1"/>
  </material>

  <!-- Null inertial element. This is needed to make the model work with
       Gazebo. -->
  <xacro:macro name="null_inertial">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </xacro:macro>

  
  <!-- Inertia of a thick-walled cylindrical tube with open ends. Height is
       measured along the z axis, which is the tube's axis. inner_rad and
       outer_rad are the tube's inner and outer radii, respectively. Pitch
       MOI is calculated from platform calibration data using bifilar pendulum
       method -->
  <xacro:macro name="thick_walled_tube_inertial"
               params="inner_rad outer_rad height mass">
    <inertial>
      <mass value="${mass}"/>
      <inertia ixx="${(1 / 12) * mass * (3 * (inner_rad * inner_rad +
                    outer_rad * outer_rad) + height * height)}"
               ixy="0" ixz="0"
               iyy="0.0224048079"
               iyz="0"
               izz="${mass * (inner_rad * inner_rad +
                    outer_rad * outer_rad) / 2}"/>
    </inertial>
  </xacro:macro>

  <!-- Shock absorbers -->
  <xacro:macro name="front_shock"
               params="lr_prefix fr_prefix lr_reflect fr_reflect child">
    <joint name="${lr_prefix}_${fr_prefix}_shock" type="prismatic">
      <parent link="chassis"/>
      <child link="${child}"/>

      <!-- ${lr_reflect * ((hex_hub_dist / 2) + lr_reflect*(front_tire_width / 2))} -->
      <origin xyz="${fr_reflect * chassis_cm_to_front_shock}
                   ${lr_reflect * ((hex_hub_dist / 2) - 0.01)}
                   ${-chassis_cm_height + front_shock_z_offset/2}"/>
      <axis xyz="0 0 -1"/>
      <limit lower="${-front_wheel_travel / 2}" upper="${front_wheel_travel / 2}"
             effort="${front_shock_eff_limit}" velocity="${shock_vel_limit}"/>
      <dynamics damping="88" friction="0.0001"
                spring_stiffness="3152" spring_reference="0.08"/>
    </joint>
    <transmission name="${lr_prefix}_${fr_prefix}_shock_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${lr_prefix}_${fr_prefix}_shock">
        <hardwareInterface>EffortJointInterface</hardwareInterface>
      </joint>
      <actuator name="${lr_prefix}_${fr_prefix}_shock_act">
        <!-- This hardwareInterface element exists for compatibility
             with ROS Hydro. -->
        <hardwareInterface>EffortJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
  </xacro:macro>

  <xacro:macro name="rear_shock"
               params="lr_prefix fr_prefix lr_reflect fr_reflect child">
    <joint name="${lr_prefix}_${fr_prefix}_shock" type="prismatic">
      <parent link="chassis"/>
      <child link="${child}"/>

      <!-- ${lr_reflect * ((hex_hub_dist / 2) + lr_reflect*(front_tire_width / 2))} -->
      <origin xyz="${fr_reflect * chassis_cm_to_rear_shock}
                   ${lr_reflect * ((hex_hub_dist / 2) )}
                   ${-chassis_height/2 + rear_shock_z_offset/2}"/>
      <axis xyz="0 0 -1"/>
      <limit lower="${-rear_wheel_travel / 2}" upper="${rear_wheel_travel / 2}"
             effort="${rear_shock_eff_limit}" velocity="${shock_vel_limit}"/>
      <dynamics damping="88" friction="0.0"/>
    </joint>
    <transmission name="${lr_prefix}_${fr_prefix}_shock_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${lr_prefix}_${fr_prefix}_shock">
        <hardwareInterface>EffortJointInterface</hardwareInterface>
      </joint>
      <actuator name="${lr_prefix}_${fr_prefix}_shock_act">
        <!-- This hardwareInterface element exists for compatibility
             with ROS Hydro. -->
        <hardwareInterface>EffortJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
  </xacro:macro>

  <!-- The "wheel" macro defines an axle carrier, axle, and wheel. -->
  <xacro:macro name="wheel" params="lr_prefix fr_prefix lr_reflect tire_width wheel_mass axle_eff_limit wheel_model cant">
    <link name="${lr_prefix}_${fr_prefix}_axle_carrier">
      <xacro:null_inertial/>
    </link>

    <!-- The left and right axles have the same axis so that identical
         rotation values cause the wheels to rotate in the same direction. -->
    <joint name="${lr_prefix}_${fr_prefix}_axle" type="continuous">
      <parent link="${lr_prefix}_${fr_prefix}_axle_carrier"/>
      <child link="${lr_prefix}_${fr_prefix}_wheel"/>
      <origin xyz="0 0 0" rpy="${degrees_90} 0 0"/>
      <axis xyz="0 0 -1"/>
      <limit effort="${axle_eff_limit}" velocity="${axle_vel_limit}"/>
      <!-- <dynamics damping="0.015" friction="0.0"/> -->
      <dynamics damping="0.001" friction="0.5"/>

    </joint>
    
<!--    <gazebo reference="${lr_prefix}_${fr_prefix}_axle">
      <dampingFactor>0.8</dampingFactor>
    </gazebo>
-->    
    <transmission name="${lr_prefix}_${fr_prefix}_axle_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${lr_prefix}_${fr_prefix}_axle">
        <hardwareInterface>EffortJointInterface</hardwareInterface>
      </joint>
      <actuator name="${lr_prefix}_${fr_prefix}_axle_act">
        <!-- This hardwareInterface element exists for compatibility
             with ROS Hydro. -->
        <hardwareInterface>EffortJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

    <link name="${lr_prefix}_${fr_prefix}_wheel">
      <visual>
        <origin xyz="0 0 0"/>
        <geometry>
          <mesh filename="${wheel_model}" />
        </geometry>
      </visual>

      <collision name="collision">
        <origin xyz="0 0 0"/>
        <geometry>
          <mesh filename="${wheel_model}" />
        </geometry>         
      </collision>

      <collision name="material">
        <origin xyz="0 0 0"/>
        <geometry>
          <mesh filename="${wheel_model}" />
        </geometry>         
      </collision>

      <xacro:thick_walled_tube_inertial
          inner_rad="${hub_dia / 2.0}" outer_rad="${tire_dia / 2.0}"
          height="${tire_width}" mass="${wheel_mass}"/>
      <max_contacts>1</max_contacts>
      <surface>
        <contact>
          <ode>
            <soft_cfm>0.000000001</soft_cfm>
            <soft_erp>0.2</soft_erp>
            <kp>1e+10</kp>      
            <kd>10</kd>
            <max_vel>0.01</max_vel>
            <min_depth>0.005</min_depth>
          </ode>
        </contact>
      </surface>

    </link>

    <gazebo reference="${lr_prefix}_${fr_prefix}_wheel">
      <mu1>0.7</mu1>
      <mu2>0.75</mu2>
    </gazebo>

  </xacro:macro>

  <!-- Front wheel -->
  <xacro:macro name="front_wheel"
               params="lr_prefix fr_prefix lr_reflect fr_reflect tire_width
                       wheel_mass axle_eff_limit">
    <xacro:front_shock lr_prefix="${lr_prefix}" fr_prefix="${fr_prefix}"
                       lr_reflect="${lr_reflect}" fr_reflect="${fr_reflect}"
                       child="${lr_prefix}_steering_link"/>

    <link name="${lr_prefix}_steering_link">
      <xacro:null_inertial/>
    </link>

    <joint name="${lr_prefix}_steering_joint" type="revolute">
      <parent link="${lr_prefix}_steering_link"/>
      <child link="${lr_prefix}_${fr_prefix}_axle_carrier"/>
      <!-- cant the front wheels to improve traction -->
      <axis xyz="0 ${-lr_reflect*0.09950372}  0.99503719"/>
      <limit lower="${-degrees_21}" upper="${degrees_21}"
             effort="${servo_stall_torque}" velocity="${servo_no_load_speed}"/>
    </joint>

    <transmission name="${lr_prefix}_steering_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${lr_prefix}_steering_joint">
        <hardwareInterface>EffortJointInterface</hardwareInterface>
      </joint>
      <actuator name="${lr_prefix}_steering_act">

        <!-- This hardwareInterface element exists for compatibility
             with ROS Hydro. -->
        <hardwareInterface>EffortJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

    <xacro:wheel lr_prefix="${lr_prefix}" fr_prefix="${fr_prefix}"
                 lr_reflect="${lr_reflect}" tire_width="${tire_width}"
                 wheel_mass="${wheel_mass}"
                 axle_eff_limit="${axle_eff_limit}"
                 wheel_model="package://autorally_description/urdf/autoRallyPlatformFrontWheelTextured.dae"
                 cant="0.05"/>
  </xacro:macro>

  <!-- Rear wheel -->
  <xacro:macro name="rear_wheel"
               params="lr_prefix fr_prefix lr_reflect fr_reflect tire_width
                       wheel_mass axle_eff_limit">
    <xacro:rear_shock lr_prefix="${lr_prefix}" fr_prefix="${fr_prefix}"
                 lr_reflect="${lr_reflect}" fr_reflect="${fr_reflect}"
                 child="${lr_prefix}_${fr_prefix}_axle_carrier"/>
    <xacro:wheel lr_prefix="${lr_prefix}" fr_prefix="${fr_prefix}"
                 lr_reflect="${lr_reflect}" tire_width="${tire_width}"
                 wheel_mass="${wheel_mass}"
                 axle_eff_limit="${axle_eff_limit}"
                 wheel_model="package://autorally_description/urdf/autoRallyPlatformRearWheelTextured.dae"
                 cant="-0.03"/>
  </xacro:macro>

  <!-- base_link must have geometry so that its axes can be displayed in
       rviz. -->
  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="chassis_mat"/>
    </visual>
  </link>
  
  <gazebo reference="base_link">
    <material>Gazebo/Grey</material>
  </gazebo>

  <!-- Chassis -->
  <link name="chassis">
    <visual>
      <origin xyz="${-chassis_length/2 + 0.15} 0 ${-chassis_cm_height}"
              rpy="0 0 0"/>
      
      <geometry>
        <mesh filename="package://autorally_description/urdf/Vehicle_Texture.dae" scale="1 1 1" />
      </geometry>
    </visual>

    <collision>
      <origin xyz="${-chassis_length/2 + 0.2} 0 ${-chassis_cm_height}"
              rpy="0 0 0"/>
      
      <geometry>
        <mesh filename="package://autorally_description/urdf/Vehicle_Texture.dae" scale="1 1 1" />
      </geometry>
    </collision>

    <inertial>
      <mass value="${chassis_mass}"/>
      <inertia ixx="0.003881755275"
               ixy="0" ixz="0"
               iyy="0.011310597718"
               iyz="0"
               izz="0.01243832479"/>
    </inertial>
  </link>
  <gazebo reference="chassis">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>

  <joint name="base_link_to_chasis" type="fixed">
    <axis xyz="0 -1 -1" />
    <parent link="base_link"/>
    <child link="chassis"/>
  </joint>

  <link name="imu_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
    </collision>

    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>
  
  <joint name="imu_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="imu_link"/>
  </joint>

  <joint name="camera_joint" type="fixed">
    <axis xyz="0 0 -1" />
    <origin xyz="0.12 0 0.05" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="camera_link"/>
  </joint>

  <!-- Camera -->
  <link name="camera_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="0.02 0.02 0.02"/>
      </geometry>
    </collision>
<!--
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="0.02 0.02 0.02"/>
      </geometry>
      <material name="red"/>
    </visual>
-->
    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>

  </link>


  <joint name="side_camera_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz="0 -3 0" rpy="0 0 1.5708"/>
    <parent link="base_link"/>
    <child link="side_camera_link"/>
  </joint>

  <!-- Camera -->
  <link name="side_camera_link">
    <!-- <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.05 0.05 0.05"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.05 0.05 0.05"/>
      </geometry>
      <material name="red"/>
    </visual>
    -->
    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>






  <!-- camera -->
  <gazebo reference="camera_link">
    <sensor type="multicamera" name="stereo_camera">
      <update_rate>30.0</update_rate>
      <camera name="left">
        <pose>0 0.07 0 0 0 0</pose>
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1280</width>
          <height>1024</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.009</stddev>
        </noise>
      </camera>
      <camera name="right">
        <pose>0.02 -0.07 0 0 0 0</pose>
        <horizontal_fov>3.0</horizontal_fov>
        <image>
          <width>1280</width>
          <height>1024</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.009</stddev>
        </noise>
      </camera>
      <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>60.0</updateRate>
        <cameraName>camera</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>left_camera_optical_frame</frameName>
        <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
        <hackBaseline>0.14</hackBaseline>
        <!-- <distortionK1>-0.212652</distortionK1>
        <distortionK2>0.085434</distortionK2>
        <distortionK3>-0.000165</distortionK3>
        <distortionT1>-0.000336</distortionT1>
        <distortionT2>0.0</distortionT2> -->
      </plugin>
    </sensor>
  </gazebo>


   <!-- camera -->
  <gazebo reference="side_camera_link">
    <sensor type="camera" name="camera_side">
      <update_rate>30.0</update_rate>
      <camera name="side">
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1280</width>
          <height>1024</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>50</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>camera_side</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>side_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>




  <!-- Wheels -->
  <xacro:front_wheel lr_prefix="left" fr_prefix="front"
                     lr_reflect="1" fr_reflect="1"
                     tire_width="${front_tire_width}"
                     wheel_mass="${front_wheel_mass}"
                     axle_eff_limit="${front_axle_eff_limit}"/>
  <xacro:front_wheel lr_prefix="right" fr_prefix="front"
                     lr_reflect="-1" fr_reflect="1"
                     tire_width="${front_tire_width}"
                     wheel_mass="${front_wheel_mass}"
                     axle_eff_limit="${front_axle_eff_limit}"/>
  <xacro:rear_wheel lr_prefix="left" fr_prefix="rear"
                    lr_reflect="1" fr_reflect="-1"
                    tire_width="${rear_tire_width}"
                    wheel_mass="${rear_wheel_mass}"
                    axle_eff_limit="${rear_axle_eff_limit}"/>
  <xacro:rear_wheel lr_prefix="right" fr_prefix="rear"
                    lr_reflect="-1" fr_reflect="-1"
                    tire_width="${rear_tire_width}"
                    wheel_mass="${rear_wheel_mass}"
                    axle_eff_limit="${rear_axle_eff_limit}"/>

  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/autorally_platform</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
    
    <plugin name="imu" filename="libhector_gazebo_ros_imu.so">
      <robotNamespace>/autorally_platform</robotNamespace>
      <serviceName>/imu/calibrate</serviceName>
      <updateRate>200.0</updateRate>
      <bodyName>imu_link</bodyName>
      <frameId>imu_link</frameId>
      <topicName>imu</topicName>
      <rpyOffset>0 0 0</rpyOffset>
      <xyzOffset>0 0 0</xyzOffset>
      <gaussianNoise>0.00000001</gaussianNoise>
      <accelDrift>0.00000001 0.00000001 0.00000001</accelDrift>
      <accelDriftFrequency>0.00000001 0.00000001 0.00000001</accelDriftFrequency>
      <accelGaussianNoise>0.00000001 0.00000001 0.00000001</accelGaussianNoise>
      <rateDrift>0.0 0.0 0.0</rateDrift>
      <rateDriftFrequency>0.0 0.0 0.0</rateDriftFrequency>
      <rateGaussianNoise>0.0 0.0 0.0</rateGaussianNoise>
      <headingDrift>0.0 0.0 0.0</headingDrift>
      <headingDriftFrequency>0.0 0.0 0.0</headingDriftFrequency>
      <headingGaussianNoise>0.0 0.0 0.0</headingGaussianNoise>
    </plugin>
    
    <plugin name="gps" filename="libhector_gazebo_ros_gps.so">
      <updateRate>20.0</updateRate>
      <bodyName>base_link</bodyName>
      <frameId>base_link</frameId>
      <topicName>gpsRoverStatus</topicName>
      <velocityTopicName>fix_velocity</velocityTopicName>
      <referenceLatitude>33.774497</referenceLatitude>
      <referenceLongitude>-84.405001</referenceLongitude>
      <referenceAltitude>309.0</referenceAltitude>
      <drift>0.001 0.001 0.001</drift>
      <gaussianNoise>0.0001 0.0001 0.0001</gaussianNoise>
      <velocityDrift>0 0 0</velocityDrift>
      <velocityGaussianNoise>0.005 0.005 0.05</velocityGaussianNoise>
    </plugin>
    <!-- <plugin name="tire_friction" filename="libTireFrictionPlugin.so">
      <link_name>left_rear_wheel</link_name>
      <collision_name>collision</collision_name>
      <friction_static>1.1</friction_static>
      <friction_dynamic>0.7</friction_dynamic>
      <slip_static>0.10</slip_static>
      <slip_dynamic>0.20</slip_dynamic>
      <speed_static>0.50</speed_static>
    </plugin> -->

  </gazebo>

</robot>