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Quella777
2025-08-25 16:30:02 +08:00
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='follower_vehicle'>
<pose frame=''>0 0 0.325 0 -0 0</pose>
<link name='chassis'>
<pose frame=''>-0.151427 -0 0.175 0 -0 0</pose>
<inertial>
<mass>1.14395</mass>
<inertia>
<ixx>0.126164</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.416519</iyy>
<iyz>0</iyz>
<izz>0.481014</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>2.01142 1 0.568726</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>2.01142 1 0.568726</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
</contact>
</surface>
</collision>
</link>
<link name='wheel_1'>
<pose frame=''>0.554283 0.625029 -0.025 1.5707 0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.25</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.25</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
</contact>
</surface>
</collision>
</link>
<link name='wheel_2'>
<pose frame=''>0.554282 -0.625029 -0.025 1.5707 0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.25</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.25</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
</contact>
</surface>
</collision>
</link>
<link name='caster'>
<pose frame=''>-0.957138 -0 -0.125 0 -0 0</pose>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<visual name='visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
</contact>
</surface>
</collision>
</link>
<model name='depth_camera'>
<link name='link'>
<pose frame=''>0.05 0.05 0.05 0 -0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name='camera' type='depth'>
<camera name='depth'>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>1</visualize>
</sensor>
</link>
<pose frame=''>0.569632 -0.03223 0.502056 0 -0 0</pose>
</model>
<joint name='chassis_wheel_1_revolute' type='revolute'>
<parent>chassis</parent>
<child>wheel_1</child>
<pose frame=''>0 0 0 0 -0 0</pose>
<axis>
<xyz>0 0 1</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
<friction>0</friction>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='chassis_wheel_2_revolute' type='revolute'>
<parent>chassis</parent>
<child>wheel_2</child>
<pose frame=''>0 0 0 0 -0 0</pose>
<axis>
<xyz>0 0 1</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
<friction>0</friction>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='chassis_caster_ball' type='ball'>
<parent>chassis</parent>
<child>caster</child>
<pose frame=''>0 0 0 0 -0 0</pose>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='chassis_depth_camera_link_fixed' type='fixed'>
<parent>chassis</parent>
<child>depth_camera::link</child>
<pose frame=''>0 0 0 0 -0 0</pose>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
<plugin name='follower' filename='libFollowerPlugin.so'/>
</model>
</sdf>