Quella/gazebo_models
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

init

Browse Source
This commit is contained in:
Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
1633 changed files with 289456 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
cart_rigid_suspension/Readme.md Normal file
View File

@@ -0,0 +1,4 @@
To regenerate the model.sdf from the erb template:
~~~
erb model.rsdf > model.sdf
~~~

16
cart_rigid_suspension/model.config Normal file
View File

@@ -0,0 +1,16 @@
<?xml version="1.0"?>
<model>
<name>Cart: rigid suspension</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Steve Peters</name>
<email>scpeters@osrfoundation.org</email>
</author>
<description>
A 4-wheel cart with rigid suspension, no steering.
</description>
</model>

125
cart_rigid_suspension/model.rsdf Normal file
View File

@@ -0,0 +1,125 @@
<?xml version="1.0" ?>
<%
# Vehicle with rigid suspension
# Consists of box chassis with 4 non-steerable wheels
# SI units (length in meters)
# Geometry
chassis_dx = 1.0
chassis_dy = 0.5
chassis_dz = 0.1
wheel_radius = 0.15
wheel_width = 0.08
chassis_z0 = wheel_radius
wheel_x0 = chassis_dx*0.5
wheel_y0 = chassis_dy*0.5 + wheel_width*0.6
wheel_locations = {
"front_left" => {:x0 => wheel_x0, :y0 => wheel_y0 },
"front_right" => {:x0 => wheel_x0, :y0 => -wheel_y0 },
"rear_left" => {:x0 => -wheel_x0, :y0 => wheel_y0 },
"rear_right" => {:x0 => -wheel_x0, :y0 => -wheel_y0 },
}
# inertia
chassis_mass = 10
chassis_ixx = chassis_mass/12.0 * (chassis_dy**2 + chassis_dz**2)
chassis_iyy = chassis_mass/12.0 * (chassis_dz**2 + chassis_dx**2)
chassis_izz = chassis_mass/12.0 * (chassis_dx**2 + chassis_dy**2)
# chassis c.g. offset from center of box
chassis_cgx = chassis_dx*0.1
chassis_cgy = 0
chassis_cgz = 0
wheel_mass = 0.5
wheel_ixx = wheel_mass * (wheel_radius**2 / 4.0 + wheel_width**2 / 12.0)
wheel_iyy = wheel_mass * (wheel_radius**2 / 4.0 + wheel_width**2 / 12.0)
wheel_izz = wheel_mass/2.0 * wheel_radius**2
%>
<sdf version="1.5">
<model name="cart_rigid_suspension">
<link name="chassis">
<pose>0 0 <%= chassis_z0 %> 0 0 0</pose>
<inertial>
<pose><%= chassis_cgx %> <%= chassis_cgy %> <%= chassis_cgz %> 0 0 0</pose>
<mass><%= chassis_mass %></mass>
<inertia>
<ixx><%= chassis_ixx %></ixx>
<iyy><%= chassis_iyy %></iyy>
<izz><%= chassis_izz %></izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size><%= chassis_dx %> <%= chassis_dy %> <%= chassis_dz %></size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size><%= chassis_dx %> <%= chassis_dy %> <%= chassis_dz %></size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
<%
wheel_locations.keys.each do |k|
x0 = wheel_locations[k][:x0]
y0 = wheel_locations[k][:y0]
%>
<%= "<link name=" + '"wheel_' + k + '">' %>
<pose><%= x0 %> <%= y0 %> <%= wheel_radius %> <%= -Math::PI/2 %> 0 0</pose>
<inertial>
<mass><%= wheel_mass %></mass>
<inertia>
<ixx><%= wheel_ixx %></ixx>
<iyy><%= wheel_iyy %></iyy>
<izz><%= wheel_izz %></izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius><%= wheel_radius %></radius>
<length><%= wheel_width %></length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius><%= wheel_radius %></radius>
<length><%= wheel_width %></length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
</link>
<%= "<joint name=" + '"wheel_' + k + '_spin" type="revolute">' %>
<parent>chassis</parent>
<%= "<child>wheel_" + k + "</child>" %>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<% end %>
</model>
</sdf>

218
cart_rigid_suspension/model.sdf Normal file
View File

@@ -0,0 +1,218 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="cart_rigid_suspension">
<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 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_spin" type="revolute">
<parent>chassis</parent>
<child>wheel_front_left</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<link name="wheel_front_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_front_right_spin" type="revolute">
<parent>chassis</parent>
<child>wheel_front_right</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</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>