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gazebo_plugins.xacro
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gazebo_plugins.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<gazebo reference="depth_camera">
<sensor name="depth_camera" type="depth_camera">
<pose> 0 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>10</update_rate>
<topic>depth_camera</topic>
<camera>
<horizontal_fov>1.05</horizontal_fov>
<image>
<format>R_FLOAT32</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>10.0</far>
</clip>
</camera>
</sensor>
</gazebo>
<gazebo reference="lidar">
<sensor name="lidar_sensor" type="gpu_lidar">
<pose>0 0 0 0 0 0</pose>
<topic>scan</topic>
<update_rate>10</update_rate>
<lidar>
<scan>
<horizontal>
<samples>360</samples>
<min_angle>-3.14</min_angle>
<max_angle>3.14</max_angle>
<resolution>1</resolution>
</horizontal>
</scan>
<range>
<min>0.3</min>
<max>12</max>
<resolution>0.01</resolution>
</range>
</lidar>
<always_on>1</always_on>
<visualize>true</visualize>
</sensor>
</gazebo>
<gazebo>
<plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<robot_param>robot_description</robot_param>
<robot_param_node>robot_state_publisher</robot_param_node>
<parameters>$(find osprey_ros)/config/robot_controllers.yaml</parameters>
</plugin>
<plugin filename="libignition-gazebo-diff-drive-system.so" name="ignition::gazebo::systems::DiffDrive">
<left_joint>front_left_wheel_joint</left_joint>
<left_joint>rear_left_wheel_joint</left_joint>
<right_joint>front_right_wheel_joint</right_joint>
<right_joint>rear_right_wheel_joint</right_joint>
<wheel_separation>1</wheel_separation>
<wheel_radius>0.1524</wheel_radius>
<wheels_per_side>2</wheels_per_side>
<odom_publish_frequency>10</odom_publish_frequency>
<odom_frame_id>odom</odom_frame_id>
<base_frame_id> base_link</base_frame_id>
<enable_odom_tf>true</enable_odom_tf>
<use_stamped_vel>false</use_stamped_vel>
<topic>cmd_vel</topic>
<odom_topic>odom</odom_topic>
<tf_topic>tf</tf_topic>
</plugin>
<plugin filename="libignition-gazebo6-sensors-system.so" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin filename="libgz_random_rocks.so" name="gz::sim::systems::GzRandomRocks">
</plugin>
</gazebo>
</robot>