/
turtlebot2.urdf
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turtlebot2.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from urdf/turtlebot2.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="turtlebot2" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
<link name="base_footprint"/>
<!--
Base link is set at the bottom of the base mould.
This is done to be compatible with the way base link
was configured for turtlebot 1. Refer to
https://github.com/turtlebot/turtlebot/issues/40
To put the base link at the more oft used wheel
axis, set the z-distance from the base_footprint
to 0.352.
-->
<joint name="base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0102"/>
<parent link="base_footprint"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<visual>
<geometry>
<!-- new mesh -->
<mesh filename="package://kobuki_description/meshes/main_body.dae"/>
</geometry>
<origin rpy="0 0 0" xyz="0.001 0 0.05199"/>
</visual>
<collision name="base">
<geometry>
<cylinder length="0.10938" radius="0.178"/>
</geometry>
<origin rpy="0 0 0" xyz="0.0 0 0.05949"/>
</collision>
<inertial>
<!-- COM experimentally determined -->
<origin xyz="0.01 0 0"/>
<mass value="2.4"/>
<!-- 2.4/2.6 kg for small/big battery pack -->
<!-- Kobuki's inertia tensor is approximated by a cylinder with homogeneous mass distribution
More details: http://en.wikipedia.org/wiki/List_of_moment_of_inertia_tensors
m = 2.4 kg; h = 0.09 m; r = 0.175 m
ixx = 1/12 * m * (3 * r^2 + h^2)
iyy = 1/12 * m * (3 * r^2 + h^2)
izz = 1/2 * m * r^2
-->
<inertia ixx="0.019995" ixy="0.0" ixz="0.0" iyy="0.019995" iyz="0.0" izz="0.03675"/>
</inertial>
</link>
<joint name="wheel_left_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_left_link"/>
<origin rpy="-1.5707963267948966 0 0" xyz="0.00 0.115 0.0250"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_left_link">
<visual>
<geometry>
<mesh filename="package://kobuki_description/meshes/wheel.dae"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<cylinder length="0.0206" radius="0.035"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="wheel_right_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_right_link"/>
<origin rpy="-1.5707963267948966 0 0" xyz="0.00 -0.115 0.0250"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_right_link">
<visual>
<geometry>
<mesh filename="package://kobuki_description/meshes/wheel.dae"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<cylinder length="0.0206" radius="0.035"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="caster_front_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_front_link"/>
<origin rpy="-1.5707963267948966 0 0" xyz="0.115 0.0 0.007"/>
</joint>
<link name="caster_front_link">
<collision>
<geometry>
<cylinder length="0.0176" radius="0.017"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="caster_back_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_link"/>
<origin rpy="-1.5707963267948966 0 0" xyz="-0.135 0.0 0.009"/>
</joint>
<link name="caster_back_link">
<collision>
<geometry>
<cylinder length="0.0176" radius="0.017"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<!-- Kobuki's sensors -->
<joint name="gyro_joint" type="fixed">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.056 0.062 0.0202"/>
<parent link="base_link"/>
<child link="gyro_link"/>
</joint>
<link name="gyro_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<joint name="cliff_sensor_left_joint" type="fixed">
<origin rpy="0 1.5707963267948966 0" xyz="0.08734 0.13601 0.0214"/>
<parent link="base_link"/>
<child link="cliff_sensor_left_link"/>
</joint>
<link name="cliff_sensor_left_link">
<inertial>
<mass value="0.0001"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
</inertial>
</link>
<joint name="cliff_sensor_right_joint" type="fixed">
<origin rpy="0 1.5707963267948966 0" xyz="0.085 -0.13601 0.0214"/>
<parent link="base_link"/>
<child link="cliff_sensor_right_link"/>
</joint>
<link name="cliff_sensor_right_link">
<inertial>
<mass value="0.0001"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
</inertial>
</link>
<joint name="cliff_sensor_front_joint" type="fixed">
<origin rpy="0 1.5707963267948966 0" xyz="0.156 0.00 0.0214"/>
<parent link="base_link"/>
<child link="cliff_sensor_front_link"/>
</joint>
<link name="cliff_sensor_front_link">
<inertial>
<mass value="0.0001"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
</inertial>
</link>
<gazebo reference="wheel_left_link">
<mu1>1.0</mu1>
<mu2>1.0</mu2>
<kp>1000000.0</kp>
<kd>100.0</kd>
<minDepth>0.001</minDepth>
<maxVel>1.0</maxVel>
</gazebo>
<gazebo reference="wheel_right_link">
<mu1>1.0</mu1>
<mu2>1.0</mu2>
<kp>1000000.0</kp>
<kd>100.0</kd>
<minDepth>0.001</minDepth>
<maxVel>1.0</maxVel>
</gazebo>
<gazebo reference="caster_front_link">
<mu1>0.0</mu1>
<mu2>0.0</mu2>
<kp>1000000.0</kp>
<kd>100.0</kd>
<minDepth>0.001</minDepth>
<maxVel>1.0</maxVel>
</gazebo>
<gazebo reference="caster_back_link">
<mu1>0.0</mu1>
<mu2>0.0</mu2>
<kp>1000000.0</kp>
<kd>100.0</kd>
<minDepth>0.001</minDepth>
<maxVel>1.0</maxVel>
</gazebo>
<gazebo reference="base_link">
<mu1>0.3</mu1>
<mu2>0.3</mu2>
<sensor name="bumpers" type="contact">
<always_on>1</always_on>
<update_rate>50.0</update_rate>
<visualize>true</visualize>
<contact>
<collision>base_footprint_fixed_joint_lump__base_collision</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="cliff_sensor_left_link">
<sensor name="cliff_sensor_left" type="ray">
<always_on>true</always_on>
<update_rate>50</update_rate>
<visualize>true</visualize>
<ray>
<scan>
<horizontal>
<samples>50</samples>
<resolution>1.0</resolution>
<min_angle>-0.0436</min_angle>
<!-- -2.5 degree -->
<max_angle>0.0436</max_angle>
<!-- 2.5 degree -->
</horizontal>
<!-- Can't use vertical rays until this bug is resolved: -->
<!-- https://bitbucket.org/osrf/gazebo/issue/509/vertical-sensor-doesnt-works -->
<!-- <vertical> -->
<!-- <samples>50</samples> -->
<!-- <resolution>1.0</resolution> -->
<!-- <min_angle>-0.0436</min_angle> -2.5 degree -->
<!-- <max_angle>0.0436</max_angle> 2.5 degree -->
<!-- </vertical> -->
</scan>
<range>
<min>0.01</min>
<max>0.15</max>
<resolution>1.0</resolution>
</range>
</ray>
</sensor>
</gazebo>
<gazebo reference="cliff_sensor_right_link">
<sensor name="cliff_sensor_right" type="ray">
<always_on>true</always_on>
<update_rate>50</update_rate>
<visualize>true</visualize>
<ray>
<scan>
<horizontal>
<samples>50</samples>
<resolution>1.0</resolution>
<min_angle>-0.0436</min_angle>
<!-- -2.5 degree -->
<max_angle>0.0436</max_angle>
<!-- 2.5 degree -->
</horizontal>
<!-- Can't use vertical rays until this bug is resolved: -->
<!-- https://bitbucket.org/osrf/gazebo/issue/509/vertical-sensor-doesnt-works -->
<!-- <vertical> -->
<!-- <samples>50</samples> -->
<!-- <resolution>1.0</resolution> -->
<!-- <min_angle>-0.0436</min_angle> -2.5 degree -->
<!-- <max_angle>0.0436</max_angle> 2.5 degree -->
<!-- </vertical> -->
</scan>
<range>
<min>0.01</min>
<max>0.15</max>
<resolution>1.0</resolution>
</range>
</ray>
</sensor>
</gazebo>
<gazebo reference="cliff_sensor_front_link">
<sensor name="cliff_sensor_front" type="ray">
<always_on>true</always_on>
<update_rate>50</update_rate>
<visualize>true</visualize>
<ray>
<scan>
<horizontal>
<samples>50</samples>
<resolution>1.0</resolution>
<min_angle>-0.0436</min_angle>
<!-- -2.5 degree -->
<max_angle>0.0436</max_angle>
<!-- 2.5 degree -->
</horizontal>
<!-- Can't use vertical rays until this bug is resolved: -->
<!-- https://bitbucket.org/osrf/gazebo/issue/509/vertical-sensor-doesnt-works -->
<!-- <vertical> -->
<!-- <samples>50</samples> -->
<!-- <resolution>1.0</resolution> -->
<!-- <min_angle>-0.0436</min_angle> -2.5 degree -->
<!-- <max_angle>0.0436</max_angle> 2.5 degree -->
<!-- </vertical> -->
</scan>
<range>
<min>0.01</min>
<max>0.15</max>
<resolution>1.0</resolution>
</range>
</ray>
</sensor>
</gazebo>
<gazebo reference="gyro_link">
<sensor name="imu" type="imu">
<plugin filename="libgazebo_ros_imu_sensor.so" name="gazebo_ros_imu_controller">
<ros>
<argument>~/out:=imu</argument>
</ros>
<output_type>sensor_msgs/msg/Imu</output_type>
<body_name>gyro_link</body_name>
<frame_name>gyro_link</frame_name>
</plugin>
<always_on>true</always_on>
<update_rate>50</update_rate>
<visualize>false</visualize>
<imu>
<noise>
<type>gaussian</type>
<rate>
<mean>0.0</mean>
<stddev>1.96e-06</stddev>
<!-- 0.25 x 0.25 (deg/s) -->
<bias_mean>0.0</bias_mean>
<bias_stddev>0.0</bias_stddev>
</rate>
<accel>
<!-- not used in the plugin and real robot, hence using tutorial values -->
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</accel>
</noise>
</imu>
</sensor>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
<update_rate>10</update_rate>
<left_joint>wheel_left_joint</left_joint>
<right_joint>wheel_right_joint</right_joint>
<wheel_separation>0.230</wheel_separation>
<wheel_diameter>0.070</wheel_diameter>
<max_wheel_torque>1.0</max_wheel_torque>
<max_wheel_acceleration>1.0</max_wheel_acceleration>
<command_topic>cmd_vel</command_topic>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<publish_wheel_tf>true</publish_wheel_tf>
<odometry_topic>odom</odometry_topic>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
</gazebo>
<material name="Gray">
<color rgba="0.5 0.5 0.5 1"/>
</material>
<material name="DarkGray">
<color rgba="0.1 0.1 0.1 0.5"/>
</material>
<material name="Black">
<color rgba="0 0 0 1"/>
</material>
<gazebo reference="base_tick1_link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="base_tick2_link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="base_tick3_link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="base_tick4_link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="base_tick5_link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="camera_support_tick1_link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="camera_support_tick2_link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="lower_base_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="middle_base_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="upper_base_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="camera_support_base_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="camera_link">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="lidar_link">
<material>Gazebo/Black</material>
</gazebo>
<link name="base_tick1_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.35" radius="0.005"/>
</geometry>
</visual>
<collision name="base">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.35" radius="0.005"/>
</geometry>
</collision>
<inertial>
<mass value="0.3"/>
<!-- cylindrical shell : Izz=m*r^2; Ixx=Iyy=1/12*m*(6*r^2+h^2) -->
<!-- solid cylinder : Izz=(m*r^2)/2; Ixx=Iyy=1/12*m*(3*r^2+h^2) -->
<inertia ixx="0.002385" ixy="0.00" ixz="0.00" iyy="0.002385" iyz="0.00" izz="0.00027"/>
</inertial>
</link>
<joint name="base_tick1_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.08 0.14 0.25"/>
<parent link="base_link"/>
<child link="base_tick1_link"/>
</joint>
<link name="base_tick2_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.35" radius="0.005"/>
</geometry>
</visual>
<collision name="base">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.35" radius="0.005"/>
</geometry>
</collision>
<inertial>
<mass value="0.3"/>
<!-- cylindrical shell : Izz=m*r^2; Ixx=Iyy=1/12*m*(6*r^2+h^2) -->
<!-- solid cylinder : Izz=(m*r^2)/2; Ixx=Iyy=1/12*m*(3*r^2+h^2) -->
<inertia ixx="0.002385" ixy="0.00" ixz="0.00" iyy="0.002385" iyz="0.00" izz="0.00027"/>
</inertial>
</link>
<joint name="base_tick2_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.09 0.12 0.25"/>
<parent link="base_link"/>
<child link="base_tick2_link"/>
</joint>
<link name="base_tick3_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.35" radius="0.005"/>
</geometry>
</visual>
<collision name="base">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.35" radius="0.005"/>
</geometry>
</collision>
<inertial>
<mass value="0.3"/>
<!-- cylindrical shell : Izz=m*r^2; Ixx=Iyy=1/12*m*(6*r^2+h^2) -->
<!-- solid cylinder : Izz=(m*r^2)/2; Ixx=Iyy=1/12*m*(3*r^2+h^2) -->
<inertia ixx="0.002385" ixy="0.00" ixz="0.00" iyy="0.002385" iyz="0.00" izz="0.00027"/>
</inertial>
</link>
<joint name="base_tick3_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.09 -0.12 0.25"/>
<parent link="base_link"/>
<child link="base_tick3_link"/>
</joint>
<link name="base_tick4_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.35" radius="0.005"/>
</geometry>
</visual>
<collision name="base">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.35" radius="0.005"/>
</geometry>
</collision>
<inertial>
<mass value="0.3"/>
<!-- cylindrical shell : Izz=m*r^2; Ixx=Iyy=1/12*m*(6*r^2+h^2) -->
<!-- solid cylinder : Izz=(m*r^2)/2; Ixx=Iyy=1/12*m*(3*r^2+h^2) -->
<inertia ixx="0.002385" ixy="0.00" ixz="0.00" iyy="0.002385" iyz="0.00" izz="0.00027"/>
</inertial>
</link>
<joint name="base_tick4_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.08 -0.14 0.25"/>
<parent link="base_link"/>
<child link="base_tick4_link"/>
</joint>
<link name="base_tick5_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.15" radius="0.005"/>
</geometry>
</visual>
<collision name="base">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.15" radius="0.005"/>
</geometry>
</collision>
<inertial>
<mass value="0.3"/>
<!-- cylindrical shell : Izz=m*r^2; Ixx=Iyy=1/12*m*(6*r^2+h^2) -->
<!-- solid cylinder : Izz=(m*r^2)/2; Ixx=Iyy=1/12*m*(3*r^2+h^2) -->
<inertia ixx="0.002385" ixy="0.00" ixz="0.00" iyy="0.002385" iyz="0.00" izz="0.00027"/>
</inertial>
</link>
<joint name="base_tick5_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.15 0.0 0.14"/>
<parent link="base_link"/>
<child link="base_tick5_link"/>
</joint>
<link name="camera_support_tick1_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.005"/>
</geometry>
</visual>
<collision name="base">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.005"/>
</geometry>
</collision>
<inertial>
<mass value="0.3"/>
<!-- cylindrical shell : Izz=m*r^2; Ixx=Iyy=1/12*m*(6*r^2+h^2) -->
<!-- solid cylinder : Izz=(m*r^2)/2; Ixx=Iyy=1/12*m*(3*r^2+h^2) -->
<inertia ixx="0.002385" ixy="0.00" ixz="0.00" iyy="0.002385" iyz="0.00" izz="0.00027"/>
</inertial>
</link>
<joint name="camera_support_tick1_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.13 0.05 0.05"/>
<parent link="middle_base_link"/>
<child link="camera_support_tick1_link"/>
</joint>
<link name="camera_support_tick2_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.005"/>
</geometry>
</visual>
<collision name="base">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.005"/>
</geometry>
</collision>
<inertial>
<mass value="0.3"/>
<!-- cylindrical shell : Izz=m*r^2; Ixx=Iyy=1/12*m*(6*r^2+h^2) -->
<!-- solid cylinder : Izz=(m*r^2)/2; Ixx=Iyy=1/12*m*(3*r^2+h^2) -->
<inertia ixx="0.002385" ixy="0.00" ixz="0.00" iyy="0.002385" iyz="0.00" izz="0.00027"/>
</inertial>
</link>
<joint name="camera_support_tick2_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.13 -0.05 0.05"/>
<parent link="middle_base_link"/>
<child link="camera_support_tick2_link"/>
</joint>
<link name="lower_base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.01" radius="0.18"/>
</geometry>
</visual>
<collision name="base">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.01" radius="0.18"/>
</geometry>
</collision>
<inertial>
<mass value="0.3"/>
<!-- cylindrical shell : Izz=m*r^2; Ixx=Iyy=1/12*m*(6*r^2+h^2) -->
<!-- solid cylinder : Izz=(m*r^2)/2; Ixx=Iyy=1/12*m*(3*r^2+h^2) -->
<inertia ixx="0.002385" ixy="0.00" ixz="0.00" iyy="0.002385" iyz="0.00" izz="0.00027"/>
</inertial>
</link>
<joint name="lower_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.155"/>
<parent link="base_link"/>
<child link="lower_base_link"/>
</joint>
<link name="middle_base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.01" radius="0.18"/>
</geometry>
</visual>
<collision name="base">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.01" radius="0.18"/>
</geometry>
</collision>
<inertial>
<mass value="0.3"/>
<!-- cylindrical shell : Izz=m*r^2; Ixx=Iyy=1/12*m*(6*r^2+h^2) -->
<!-- solid cylinder : Izz=(m*r^2)/2; Ixx=Iyy=1/12*m*(3*r^2+h^2) -->
<inertia ixx="0.002385" ixy="0.00" ixz="0.00" iyy="0.002385" iyz="0.00" izz="0.00027"/>
</inertial>
</link>
<joint name="middle_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.208"/>
<parent link="base_link"/>
<child link="middle_base_link"/>
</joint>
<link name="upper_base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.01" radius="0.18"/>
</geometry>
</visual>
<collision name="base">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.01" radius="0.18"/>
</geometry>
</collision>
<inertial>
<mass value="0.3"/>
<!-- cylindrical shell : Izz=m*r^2; Ixx=Iyy=1/12*m*(6*r^2+h^2) -->
<!-- solid cylinder : Izz=(m*r^2)/2; Ixx=Iyy=1/12*m*(3*r^2+h^2) -->
<inertia ixx="0.002385" ixy="0.00" ixz="0.00" iyy="0.002385" iyz="0.00" izz="0.00027"/>
</inertial>
</link>
<joint name="upper_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.42"/>
<parent link="base_link"/>
<child link="upper_base_link"/>
</joint>
<link name="camera_support_base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.0175 0.15 0.005"/>
</geometry>
</visual>
<collision name="base">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.0175 0.15 0.005"/>
</geometry>
</collision>
<inertial>
<mass value="0.3"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="camera_support_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.13 0 0.0975"/>
<parent link="middle_base_link"/>
<child link="camera_support_base_link"/>
</joint>
<link name="camera_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.015 0.130 0.022"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.015 0.130 0.022"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.035"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
<joint name="camera_joint" type="fixed">
<parent link="base_link"/>
<child link="camera_link"/>
<origin rpy="0 0 0" xyz="0.13 0 0.32"/>
</joint>
<link name="camera_depth_frame"/>
<joint name="camera_depth_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_link"/>
<child link="camera_depth_frame"/>
</joint>
<gazebo reference="camera_link">
<sensor name="depth_camera" type="depth">
<visualize>true</visualize>
<update_rate>30.0</update_rate>
<camera name="camera">
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>6</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_camera.so" name="depth_camera_controller">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<frame_name>camera_depth_frame</frame_name>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>6.0</pointCloudCutoffMax>
<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>
</gazebo>
<link name="lidar_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.125"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.055" radius="0.0508"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.055" radius="0.0508"/>
</geometry>
</visual>
</link>
<joint name="lidar_joint" type="fixed">
<parent link="upper_base_link"/>
<child link="lidar_link"/>
<origin rpy="0 0 0" xyz="0 0 0.0275"/>
</joint>
<gazebo reference="lidar_link">
<sensor name="lidar" type="ray">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1.000000</resolution>
<min_angle>0.000000</min_angle>
<max_angle>6.280000</max_angle>
</horizontal>
</scan>
<range>
<min>0.120000</min>
<max>3.5</max>
<resolution>0.015000</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_ray_sensor.so" name="scan">
<ros>
<remapping>~/out:=scan</remapping>
</ros>
<output_type>sensor_msgs/LaserScan</output_type>
<frame_name>lidar_link</frame_name>
</plugin>
</sensor>
</gazebo>
</robot>