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496b59e May 22, 2016
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38 lines (32 sloc) 1020 Bytes
<sdf version="1.5">
<world name="default">
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
<!-- Name it uniquely to not conflict with <include>'d model -->
<model name="simple_create">
<include>
<uri>model://create</uri>
</include>
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
<alwaysOn>true</alwaysOn>
<updateRate>10</updateRate>
<leftJoint>create::right_wheel</leftJoint>
<rightJoint>create::left_wheel</rightJoint>
<wheelSeparation>0.5380</wheelSeparation>
<wheelDiameter>0.2410</wheelDiameter>
<torque>20</torque>
<commandTopic>cmd_vel</commandTopic>
<!-- topic name published in the cpp file -->
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>base</robotBaseFrame>
<publishWheelTF>true</publishWheelTF>
<publishWheelJointState>true</publishWheelJointState>
</plugin>
</model>
</world>
</sdf>