209 lines
6.9 KiB
Plaintext
209 lines
6.9 KiB
Plaintext
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from miniBox.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="box_bot">
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<!-- base_link-->
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<link name="base_link">
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<visual>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.06"/>
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<geometry>
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<box size="0.4 0.3 0.12"/>
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</geometry>
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<material name="Gray">
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<color rgba="0.5 0.5 0.5 1.0"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.06"/>
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<geometry>
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<box size="0.4 0.3 0.12"/>
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</geometry>
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</collision>
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<!-- 简化惯性 -->
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.06"/>
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<mass value="5.0"/>
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<!-- 盒子惯性：Ixx = 1/12 m (y^2 + z^2) 等 -->
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<inertia ixx="0.04349999999999999" ixy="0" ixz="0" iyy="0.07266666666666667" iyz="0" izz="0.10416666666666666"/>
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</inertial>
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</link>
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<link name="front_left_wheel_link">
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<visual>
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<origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<cylinder length="0.03" radius="0.05"/>
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</geometry>
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<material name="Black">
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<color rgba="0.1 0.1 0.1 1.0"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<cylinder length="0.03" radius="0.05"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.3"/>
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<!-- 圆柱体惯性：Ixx = Iyy = (1/12) m (3r^2 + h^2) 等 -->
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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</link>
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<joint name="front_left_wheel_joint" type="continuous">
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<parent link="base_link"/>
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<child link="front_left_wheel_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.15000000000000002 0.15 0.05"/>
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<!-- 轮子绕y轴旋转 -->
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<axis xyz="0.0 1.0 0.0"/>
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</joint>
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<link name="front_right_wheel_link">
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<visual>
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<origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<cylinder length="0.03" radius="0.05"/>
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</geometry>
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<material name="Black">
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<color rgba="0.1 0.1 0.1 1.0"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<cylinder length="0.03" radius="0.05"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.3"/>
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<!-- 圆柱体惯性：Ixx = Iyy = (1/12) m (3r^2 + h^2) 等 -->
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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</link>
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<joint name="front_right_wheel_joint" type="continuous">
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<parent link="base_link"/>
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<child link="front_right_wheel_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.15000000000000002 -0.15 0.05"/>
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<!-- 轮子绕y轴旋转 -->
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<axis xyz="0.0 1.0 0.0"/>
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</joint>
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<link name="rear_left_wheel_link">
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<visual>
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<origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<cylinder length="0.03" radius="0.05"/>
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</geometry>
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<material name="Black">
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<color rgba="0.1 0.1 0.1 1.0"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<cylinder length="0.03" radius="0.05"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.3"/>
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<!-- 圆柱体惯性：Ixx = Iyy = (1/12) m (3r^2 + h^2) 等 -->
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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</link>
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<joint name="rear_left_wheel_joint" type="continuous">
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<parent link="base_link"/>
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<child link="rear_left_wheel_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="-0.25 0.15 0.05"/>
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<!-- 轮子绕y轴旋转 -->
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<axis xyz="0.0 1.0 0.0"/>
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</joint>
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<link name="rear_right_wheel_link">
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<visual>
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<origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<cylinder length="0.03" radius="0.05"/>
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</geometry>
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<material name="Black">
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<color rgba="0.1 0.1 0.1 1.0"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<cylinder length="0.03" radius="0.05"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.3"/>
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<!-- 圆柱体惯性：Ixx = Iyy = (1/12) m (3r^2 + h^2) 等 -->
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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</link>
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<joint name="rear_right_wheel_joint" type="continuous">
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<parent link="base_link"/>
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<child link="rear_right_wheel_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="-0.25 -0.15 0.05"/>
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<!-- 轮子绕y轴旋转 -->
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<axis xyz="0.0 1.0 0.0"/>
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</joint>
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<!-- 雷达支架 -->
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<!-- 通常放到轮心高度 -->
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<link name="lidar_mount_link">
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<visual>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.16999999999999998"/>
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<geometry>
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<box size="0.05 0.05 0.10"/>
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</geometry>
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<material name="Blue">
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<color rgba="0.2 0.2 0.8 1.0"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.16999999999999998"/>
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<geometry>
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<box size="0.05 0.05 0.10"/>
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</geometry>
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</collision>
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<!-- 简化惯性 -->
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.16999999999999998"/>
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<mass value="0.2"/>
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<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
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</inertial>
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</link>
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<joint name="lidar_mount_joint" type="fixed">
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<parent link="base_link"/>
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<child link="lidar_mount_link"/>
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<!-- 前方: x正方向 -->
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<origin rpy="0.0 0.0 0.0" xyz="0.15000000000000002 0 0"/>
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</joint>
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<!-- 四轮驱动插件(skid steer) -->
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<gazebo>
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<plugin filename="libgazebo_ros_skid_steer_drive.so" name="skid_steer_drive">
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<ros>
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<namespace>/</namespace>
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</ros>
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<!-- cmd_vel 输入 -->
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<commandTopic>cmd_vel</commandTopic>
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<!-- 里程计 -->
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<odometryTopic>odom</odometryTopic>
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<odometryFrame>odom</odometryFrame>
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<robotBaseFrame>base_link</robotBaseFrame>
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<!-- 四个轮子关节命名 -->
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<leftFrontWheelJoint>front_left_wheel_joint</leftFrontWheelJoint>
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<rightFrontWheelJoint>front_right_wheel_joint</rightFrontWheelJoint>
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<leftRearWheelJoint>rear_left_wheel_joint</leftRearWheelJoint>
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<rightRearWheelJoint>rear_right_wheel_joint</rightRearWheelJoint>
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<!-- 几何参数 -->
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<wheelSeparation>0.3</wheelSeparation>
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<wheelDiameter>0.1</wheelDiameter>
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<!-- 可调 -->
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<wheelTorque>5.0</wheelTorque>
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<updateRate>50</updateRate>
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</plugin>
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</gazebo>
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</robot>
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