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Quella777
2025-08-25 16:30:02 +08:00
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<?xml version='1.0'?>
<sdf version="1.4">
<model name="pioneer3at">
<pose>0 0 0.180 0 0 0</pose>
<static>false</static>
<link name="chassis">
<inertial>
<mass>14.0</mass>
<inertia>
<!-- http://en.wikipedia.org/wiki/List_of_moment_of_inertia_tensors
MATLAB:
m=14; h=0.19; w=0.4; d=0.5;
ixx = 1/12*m*(h^2+d^2)
iyy = 1/12*m*(w^2+d^2)
izz = 1/12*m*(h^2+d^2)
-->
<ixx>0.3338</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.4783</iyy>
<iyz>0.0</iyz>
<izz>0.3338</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.501 0.400 0.19</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://pioneer3at/meshes/chassis.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="right_front_wheel">
<pose>0.125 -0.201 -0.06 1.5707 0 0</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.110</radius>
<length>0.075</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.5</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://pioneer3at/meshes/wheel.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="left_front_wheel">
<pose>0.125 0.201 -0.06 1.5707 0 0</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.110</radius>
<length>0.075</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.5</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://pioneer3at/meshes/wheel.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="right_rear_wheel">
<pose>-0.125 -0.201 -0.06 1.5707 0 0</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.110</radius>
<length>0.075</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.5</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://pioneer3at/meshes/wheel.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="left_rear_wheel">
<pose>-0.125 0.201 -0.06 1.5707 0 0</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.110</radius>
<length>0.075</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.5</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://pioneer3at/meshes/wheel.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint type="revolute" name="right_front">
<pose>0 0 0 0 0 0</pose>
<child>right_front_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="revolute" name="right_rear">
<pose>0 0 0 0 0 0</pose>
<child>right_rear_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="revolute" name="left_front">
<pose>0 0 0 0 0 0</pose>
<child>left_front_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint type="revolute" name="left_rear">
<pose>0 0 0 0 0 0</pose>
<child>left_rear_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<plugin name="SkidSteerDrivePlugin" filename="libSkidSteerDrivePlugin.so">
<right_front>right_front</right_front>
<right_rear>right_rear</right_rear>
<left_front>left_front</left_front>
<left_rear>left_rear</left_rear>
<MaxForce>5.0</MaxForce>
</plugin>
<!--
<include>
<uri>model://hokuyo</uri>
<pose>0.2 0 0.13 0 0 0</pose>
</include>
<joint name="hokuyo_joint" type="revolute">
<child>hokuyo::link</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<upper>0</upper>
<lower>0</lower>
</limit>
</axis>
</joint>
-->
</model>
</sdf>