gazebo_models/cart_front_steer/model.sdf

<?xml version="1.0" ?>

<sdf version="1.5">
  <model name="cart_front_steer">
    <link name="chassis">
      <pose>0 0 0.15  0 0 0</pose>
      <inertial>
        <pose>0.1 0 0  0 0 0</pose>
        <mass>10</mass>
        <inertia>
          <ixx>0.21666666666666667</ixx>
          <iyy>0.8416666666666667</iyy>
          <izz>1.0416666666666667</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <box>
            <size>1.0 0.5 0.1</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <box>
            <size>1.0 0.5 0.1</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
    </link>
    
    <link name="wheel_front_left">
      <pose>0.5 0.298 0.15  -1.5707963267948966 -0.08726646259971647 0</pose>
      <inertial>
        <mass>0.5</mass>
        <inertia>
          <ixx>0.0030791666666666667</ixx>
          <iyy>0.0030791666666666667</iyy>
          <izz>0.005625</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.08</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.08</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Black</name>
          </script>
        </material>
      </visual>
    </link>
    
    <joint name="wheel_front_left_steer_spin" type="universal">
      <parent>chassis</parent>
      <child>wheel_front_left</child>
      <axis>
        <xyz>0 -1 0</xyz>
        <limit>
          <lower>-0.6108652381980153</lower>
          <upper>0.6108652381980153</upper>
        </limit>
      </axis>
      <axis2>
        <xyz>0 0 1</xyz>
      </axis2>
    </joint>
    
    <link name="wheel_front_right">
      <pose>0.5 -0.298 0.15  -1.5707963267948966 -0.08726646259971647 0</pose>
      <inertial>
        <mass>0.5</mass>
        <inertia>
          <ixx>0.0030791666666666667</ixx>
          <iyy>0.0030791666666666667</iyy>
          <izz>0.005625</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.08</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.08</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Black</name>
          </script>
        </material>
      </visual>
    </link>
    
    <joint name="wheel_front_right_steer_spin" type="universal">
      <parent>chassis</parent>
      <child>wheel_front_right</child>
      <axis>
        <xyz>0 -1 0</xyz>
        <limit>
          <lower>-0.6108652381980153</lower>
          <upper>0.6108652381980153</upper>
        </limit>
      </axis>
      <axis2>
        <xyz>0 0 1</xyz>
      </axis2>
    </joint>
    
    
    <link name="wheel_rear_left">
      <pose>-0.5 0.298 0.15  -1.5707963267948966 0 0</pose>
      <inertial>
        <mass>0.5</mass>
        <inertia>
          <ixx>0.0030791666666666667</ixx>
          <iyy>0.0030791666666666667</iyy>
          <izz>0.005625</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.08</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.08</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Black</name>
          </script>
        </material>
      </visual>
    </link>
    <joint name="wheel_rear_left_spin" type="revolute">
      <parent>chassis</parent>
      <child>wheel_rear_left</child>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    
    <link name="wheel_rear_right">
      <pose>-0.5 -0.298 0.15  -1.5707963267948966 0 0</pose>
      <inertial>
        <mass>0.5</mass>
        <inertia>
          <ixx>0.0030791666666666667</ixx>
          <iyy>0.0030791666666666667</iyy>
          <izz>0.005625</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.08</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.08</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Black</name>
          </script>
        </material>
      </visual>
    </link>
    <joint name="wheel_rear_right_spin" type="revolute">
      <parent>chassis</parent>
      <child>wheel_rear_right</child>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    
  </model>
</sdf>