conveyor_belt.sdf

<?xml version="1.0" ?>
<sdf version="1.6">
    <model name="conveyor_belt">
      <!-- Fixed frame that can be used to refer to the belt's global pose -->
      <model name="conveyor_belt_fixed">
        <static>true</static>
        <pose>1.16 4.2 0.8 0 0 -1.57079</pose>
        <link name="link">
          <pose>0 0 0 0 0 0</pose>
        </link>
      </model>

      <!-- Moving component that extends and resets a prismatic joint -->
      <model name="conveyor_belt_moving">
        <static>false</static>
        <pose>1.16 -4.12 0.35 0 0 -1.57079</pose>
        <link name="belt">
          <pose>-5 0 0 0 0 0</pose>
          <inertial>
            <inertia>
              <ixx>3.8185</ixx>
              <ixy>0</ixy>
              <ixz>0</ixz>
              <iyy>1781.5</iyy>
              <iyz>0</iyz>
              <izz>1784.72</izz>
            </inertia>
            <mass>100</mass>
          </inertial>
          <!--Uncomment for debugging -->
          <!--
          <visual name="belt_visual">
            <geometry>
              <box>
                <size>7.5 0.75461 0.18862</size>
              </box>
            </geometry>
          </visual>
          -->
          <collision name="belt_collision">
            <geometry>
              <box>
                <size>7.5 0.75461 0.18862</size>
              </box>
            </geometry>
            <surface>
              <friction>
                <ode>
                  <mu>1.0</mu>
                  <mu2>1.0</mu2>
                </ode>
                <torsional>
                  <coefficient>1000.0</coefficient>
                  <patch_radius>0.1</patch_radius>
                </torsional>
              </friction>
            </surface>
          </collision>
        </link>
      </model>

      <joint name="belt_joint" type="prismatic">
        <parent>conveyor_belt_fixed::link</parent>
        <child>conveyor_belt_moving::belt</child>
        <axis>
          <xyz>1 0 0</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.0</upper>
          </limit>
        </axis>
      </joint>

      <plugin name="conveyor_belt_plugin" filename="libROSConveyorBeltPlugin.so">
        <robot_namespace>/ariac</robot_namespace>
        <enable_topic>/ariac/conveyor_enable</enable_topic>
        <population_rate_modifier_topic>/ariac/population/rate_modifier</population_rate_modifier_topic>
        <link>conveyor_belt::conveyor_belt_moving::belt</link>
        <power>0</power>
        <update_rate>10</update_rate>
      </plugin>
    </model>
</sdf>