init
This commit is contained in:
Quella777
269
utility_cart/model-1_2.sdf
Normal file
269
utility_cart/model-1_2.sdf
Normal file
@@ -0,0 +1,269 @@
|
||||
<?xml version="1.0" ?>
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||||
<gazebo version="1.2">
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||||
<model name="car">
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||||
<link name="chassis">
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||||
<pose>0 0 0.3 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box><size>2.0 1.0 0.2</size></box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box><size>2.0 1.0 0.2</size></box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
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||||
<link name="front_left_wheel">
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||||
<pose>0.8 0.6 0.3 0 1.5707 1.5707</pose>
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||||
<collision name="collision">
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||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
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||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
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||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
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||||
</script>
|
||||
</material>
|
||||
</visual>
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||||
</link>
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||||
<link name="front_right_wheel">
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<pose>0.8 -0.6 0.3 0 1.5707 1.5707</pose>
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||||
<collision name="collision">
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||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
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||||
</geometry>
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||||
</collision>
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||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
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||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
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||||
<link name="back_right_wheel">
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||||
<pose>-0.8 -0.6 0.3 0 1.5707 1.5707</pose>
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||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
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||||
</geometry>
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||||
</collision>
|
||||
<visual name="visual">
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||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
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||||
</geometry>
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||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
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||||
</script>
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||||
</material>
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||||
</visual>
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||||
</link>
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||||
<link name="back_left_wheel">
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||||
<pose>-0.8 0.6 0.3 0 1.5707 1.5707</pose>
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||||
<collision name="collision">
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||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
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||||
</geometry>
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||||
</collision>
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||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
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||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
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||||
</script>
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||||
</material>
|
||||
</visual>
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||||
</link>
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||||
<link name="gas_pedal">
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<pose>0.3 0.1 0.5 0 0 0</pose>
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||||
<collision name="collision">
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||||
<geometry>
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||||
<box><size>0.1 0.1 0.1</size></box>
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||||
</geometry>
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||||
</collision>
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||||
<visual name="visual">
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||||
<geometry>
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||||
<box><size>0.1 0.1 0.1</size></box>
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||||
</geometry>
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||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
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||||
<name>Gazebo/Red</name>
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||||
</script>
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||||
</material>
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||||
</visual>
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||||
</link>
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||||
<link name="brake_pedal">
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<pose>0.3 0.25 0.5 0 0 0</pose>
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||||
<collision name="collision">
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||||
<geometry>
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||||
<box><size>0.1 0.1 0.1</size></box>
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||||
</geometry>
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||||
</collision>
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||||
<visual name="visual">
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||||
<geometry>
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||||
<box><size>0.1 0.1 0.1</size></box>
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||||
</geometry>
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||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
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||||
<name>Gazebo/Blue</name>
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||||
</script>
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||||
</material>
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||||
</visual>
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||||
</link>
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<link name="steering_wheel">
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<pose>0.3 0.2 1.0 0 1.5707 0</pose>
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<collision name="collision">
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<geometry>
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||||
<cylinder><radius>0.1</radius><length>0.01</length></cylinder>
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||||
</geometry>
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||||
</collision>
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||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.1</radius><length>0.01</length></cylinder>
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||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Blue</name>
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||||
</script>
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||||
</material>
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||||
</visual>
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||||
</link>
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<joint type="prismatic" name="gas_joint">
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<parent>chassis</parent>
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<child>gas_pedal</child>
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<axis>
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<xyz>1 0 0</xyz>
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<limit><lower>0</lower><upper>0.2</upper></limit>
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||||
</axis>
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||||
</joint>
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||||
<joint type="prismatic" name="brake_joint">
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<parent>chassis</parent>
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<child>brake_pedal</child>
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<axis>
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<xyz>1 0 0</xyz>
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<limit><lower>0</lower><upper>0.2</upper></limit>
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</axis>
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||||
</joint>
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<joint type="revolute" name="steering_joint">
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<parent>chassis</parent>
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<child>steering_wheel</child>
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<axis>
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<xyz>1 0 0</xyz>
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<limit><lower>-7.853</lower><upper>7.853</upper></limit>
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</axis>
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</joint>
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<joint type="revolute2" name="front_left_joint">
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<parent>chassis</parent>
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<child>front_left_wheel</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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</limit>
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</axis>
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||||
<axis2>
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<xyz>0 1 0</xyz>
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||||
</axis2>
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||||
<physics>
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||||
<ode>
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||||
<limit><cfm>0.0</cfm><erp>0.9</erp></limit>
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</ode>
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||||
</physics>
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</joint>
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<joint type="revolute2" name="front_right_joint">
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<parent>chassis</parent>
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<child>front_right_wheel</child>
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<axis><xyz>0 0 1</xyz>
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<limit><lower>0</lower><upper>0</upper></limit>
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</axis>
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||||
<axis2>
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||||
<xyz>0 1 0</xyz>
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||||
</axis2>
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||||
<physics>
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||||
<ode>
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||||
<limit><cfm>0.0</cfm><erp>0.9</erp></limit>
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||||
</ode>
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||||
</physics>
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||||
</joint>
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<joint type="revolute2" name="back_right_joint">
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<parent>chassis</parent>
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<child>back_right_wheel</child>
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||||
<axis><xyz>0 0 1</xyz>
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||||
<limit><lower>0</lower><upper>0</upper></limit>
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||||
</axis>
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||||
<axis2>
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||||
<xyz>0 1 0</xyz>
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||||
</axis2>
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||||
<physics>
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||||
<ode>
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||||
<limit><cfm>0.0</cfm><erp>0.9</erp></limit>
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||||
</ode>
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||||
</physics>
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||||
</joint>
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||||
<joint type="revolute2" name="back_left_joint">
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||||
<parent>chassis</parent>
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<child>back_left_wheel</child>
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||||
<axis><xyz>0 0 1</xyz>
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||||
<limit><lower>0</lower><upper>0</upper></limit>
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||||
</axis>
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||||
<axis2>
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||||
<xyz>0 1 0</xyz>
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||||
</axis2>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit><cfm>0.0</cfm><erp>0.9</erp></limit>
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||||
</ode>
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||||
</physics>
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||||
</joint>
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||||
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<plugin filename="libVehiclePlugin.so" name="vehicle">
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<!-- Joints for each wheel -->
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<front_left>front_left_joint</front_left>
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<front_right>front_right_joint</front_right>
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<back_left>back_left_joint</back_left>
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<back_right>back_right_joint</back_right>
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<!-- Joint which controls the gas -->
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<gas>gas_joint</gas>
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<!-- Joint which controls the gas -->
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<brake>brake_joint</brake>
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<!-- Joint which controls the steering -->
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<steering>steering_joint</steering>
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<!-- Power is multiplied by "gas" to determine force applied to wheels -->
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<front_power>10</front_power>
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<rear_power>10</rear_power>
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<!-- The angle range the front tires can turn for steering, in radians -->
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<tire_angle_range>0.5</tire_angle_range>
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<!-- Maximum speed for the car in meters/second -->
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<max_speed>10</max_speed>
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<!-- Factor for the down-force applied as the car travels faster -->
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||||
<!-- A larger number increases the down force -->
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<aero_load>0.1</aero_load>
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</plugin>
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||||
</model>
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||||
</gazebo>
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||||
269
utility_cart/model-1_3.sdf
Normal file
269
utility_cart/model-1_3.sdf
Normal file
@@ -0,0 +1,269 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.3">
|
||||
<model name="car">
|
||||
<link name="chassis">
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||||
<pose>0 0 0.3 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box><size>2.0 1.0 0.2</size></box>
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||||
</geometry>
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||||
</collision>
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||||
<visual name="visual">
|
||||
<geometry>
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||||
<box><size>2.0 1.0 0.2</size></box>
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||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="front_left_wheel">
|
||||
<pose>0.8 0.6 0.3 0 1.5707 1.5707</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="front_right_wheel">
|
||||
<pose>0.8 -0.6 0.3 0 1.5707 1.5707</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="back_right_wheel">
|
||||
<pose>-0.8 -0.6 0.3 0 1.5707 1.5707</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="back_left_wheel">
|
||||
<pose>-0.8 0.6 0.3 0 1.5707 1.5707</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="gas_pedal">
|
||||
<pose>0.3 0.1 0.5 0 0 0</pose>
|
||||
<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>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Red</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="brake_pedal">
|
||||
<pose>0.3 0.25 0.5 0 0 0</pose>
|
||||
<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>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Blue</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="steering_wheel">
|
||||
<pose>0.3 0.2 1.0 0 1.5707 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder><radius>0.1</radius><length>0.01</length></cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.1</radius><length>0.01</length></cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Blue</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint type="prismatic" name="gas_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>gas_pedal</child>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit><lower>0</lower><upper>0.2</upper></limit>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint type="prismatic" name="brake_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>brake_pedal</child>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit><lower>0</lower><upper>0.2</upper></limit>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint type="revolute" name="steering_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>steering_wheel</child>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit><lower>-7.853</lower><upper>7.853</upper></limit>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint type="revolute2" name="front_left_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>front_left_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0</upper>
|
||||
</limit>
|
||||
</axis>
|
||||
<axis2>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis2>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit><cfm>0.0</cfm><erp>0.9</erp></limit>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint type="revolute2" name="front_right_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>front_right_wheel</child>
|
||||
<axis><xyz>0 0 1</xyz>
|
||||
<limit><lower>0</lower><upper>0</upper></limit>
|
||||
</axis>
|
||||
<axis2>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis2>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit><cfm>0.0</cfm><erp>0.9</erp></limit>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint type="revolute2" name="back_right_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>back_right_wheel</child>
|
||||
<axis><xyz>0 0 1</xyz>
|
||||
<limit><lower>0</lower><upper>0</upper></limit>
|
||||
</axis>
|
||||
<axis2>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis2>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit><cfm>0.0</cfm><erp>0.9</erp></limit>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint type="revolute2" name="back_left_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>back_left_wheel</child>
|
||||
<axis><xyz>0 0 1</xyz>
|
||||
<limit><lower>0</lower><upper>0</upper></limit>
|
||||
</axis>
|
||||
<axis2>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis2>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit><cfm>0.0</cfm><erp>0.9</erp></limit>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
|
||||
<plugin filename="libVehiclePlugin.so" name="vehicle">
|
||||
<!-- Joints for each wheel -->
|
||||
<front_left>front_left_joint</front_left>
|
||||
<front_right>front_right_joint</front_right>
|
||||
<back_left>back_left_joint</back_left>
|
||||
<back_right>back_right_joint</back_right>
|
||||
<!-- Joint which controls the gas -->
|
||||
<gas>gas_joint</gas>
|
||||
<!-- Joint which controls the gas -->
|
||||
<brake>brake_joint</brake>
|
||||
<!-- Joint which controls the steering -->
|
||||
<steering>steering_joint</steering>
|
||||
<!-- Power is multiplied by "gas" to determine force applied to wheels -->
|
||||
<front_power>10</front_power>
|
||||
<rear_power>10</rear_power>
|
||||
<!-- The angle range the front tires can turn for steering, in radians -->
|
||||
<tire_angle_range>0.5</tire_angle_range>
|
||||
<!-- Maximum speed for the car in meters/second -->
|
||||
<max_speed>10</max_speed>
|
||||
<!-- Factor for the down-force applied as the car travels faster -->
|
||||
<!-- A larger number increases the down force -->
|
||||
<aero_load>0.1</aero_load>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
269
utility_cart/model-1_4.sdf
Normal file
269
utility_cart/model-1_4.sdf
Normal file
@@ -0,0 +1,269 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="car">
|
||||
<link name="chassis">
|
||||
<pose>0 0 0.3 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box><size>2.0 1.0 0.2</size></box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box><size>2.0 1.0 0.2</size></box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="front_left_wheel">
|
||||
<pose>0.8 0.6 0.3 0 1.5707 1.5707</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="front_right_wheel">
|
||||
<pose>0.8 -0.6 0.3 0 1.5707 1.5707</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="back_right_wheel">
|
||||
<pose>-0.8 -0.6 0.3 0 1.5707 1.5707</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="back_left_wheel">
|
||||
<pose>-0.8 0.6 0.3 0 1.5707 1.5707</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.3</radius><length>0.1</length></cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="gas_pedal">
|
||||
<pose>0.3 0.1 0.5 0 0 0</pose>
|
||||
<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>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Red</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="brake_pedal">
|
||||
<pose>0.3 0.25 0.5 0 0 0</pose>
|
||||
<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>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Blue</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="steering_wheel">
|
||||
<pose>0.3 0.2 1.0 0 1.5707 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder><radius>0.1</radius><length>0.01</length></cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder><radius>0.1</radius><length>0.01</length></cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Blue</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint type="prismatic" name="gas_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>gas_pedal</child>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit><lower>0</lower><upper>0.2</upper></limit>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint type="prismatic" name="brake_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>brake_pedal</child>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit><lower>0</lower><upper>0.2</upper></limit>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint type="revolute" name="steering_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>steering_wheel</child>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit><lower>-7.853</lower><upper>7.853</upper></limit>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint type="revolute2" name="front_left_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>front_left_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0</upper>
|
||||
</limit>
|
||||
</axis>
|
||||
<axis2>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis2>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit><cfm>0.0</cfm><erp>0.9</erp></limit>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint type="revolute2" name="front_right_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>front_right_wheel</child>
|
||||
<axis><xyz>0 0 1</xyz>
|
||||
<limit><lower>0</lower><upper>0</upper></limit>
|
||||
</axis>
|
||||
<axis2>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis2>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit><cfm>0.0</cfm><erp>0.9</erp></limit>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint type="revolute2" name="back_right_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>back_right_wheel</child>
|
||||
<axis><xyz>0 0 1</xyz>
|
||||
<limit><lower>0</lower><upper>0</upper></limit>
|
||||
</axis>
|
||||
<axis2>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis2>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit><cfm>0.0</cfm><erp>0.9</erp></limit>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint type="revolute2" name="back_left_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>back_left_wheel</child>
|
||||
<axis><xyz>0 0 1</xyz>
|
||||
<limit><lower>0</lower><upper>0</upper></limit>
|
||||
</axis>
|
||||
<axis2>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis2>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit><cfm>0.0</cfm><erp>0.9</erp></limit>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
|
||||
<plugin filename="libVehiclePlugin.so" name="vehicle">
|
||||
<!-- Joints for each wheel -->
|
||||
<front_left>front_left_joint</front_left>
|
||||
<front_right>front_right_joint</front_right>
|
||||
<back_left>back_left_joint</back_left>
|
||||
<back_right>back_right_joint</back_right>
|
||||
<!-- Joint which controls the gas -->
|
||||
<gas>gas_joint</gas>
|
||||
<!-- Joint which controls the gas -->
|
||||
<brake>brake_joint</brake>
|
||||
<!-- Joint which controls the steering -->
|
||||
<steering>steering_joint</steering>
|
||||
<!-- Power is multiplied by "gas" to determine force applied to wheels -->
|
||||
<front_power>10</front_power>
|
||||
<rear_power>10</rear_power>
|
||||
<!-- The angle range the front tires can turn for steering, in radians -->
|
||||
<tire_angle_range>0.5</tire_angle_range>
|
||||
<!-- Maximum speed for the car in meters/second -->
|
||||
<max_speed>10</max_speed>
|
||||
<!-- Factor for the down-force applied as the car travels faster -->
|
||||
<!-- A larger number increases the down force -->
|
||||
<aero_load>0.1</aero_load>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
19
utility_cart/model.config
Normal file
19
utility_cart/model.config
Normal file
@@ -0,0 +1,19 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Utility Cart</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.2">model-1_2.sdf</sdf>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>John Hsu</name>
|
||||
<email>hsu@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A utility cart.
|
||||
</description>
|
||||
</model>
|
||||
354
utility_cart/model.sdf
Normal file
354
utility_cart/model.sdf
Normal file
@@ -0,0 +1,354 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="car">
|
||||
<link name="chassis">
|
||||
<pose>0 0 0.3 0 0 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2.0 1.0 0.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>2.0 1.0 0.2</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Green</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="front_left_wheel">
|
||||
<pose>0.8 0.6 0.3 0 1.5707 1.5707</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.3</radius>
|
||||
<length>0.1</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.3</radius>
|
||||
<length>0.1</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="front_right_wheel">
|
||||
<pose>0.8 -0.6 0.3 0 1.5707 1.5707</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.3</radius>
|
||||
<length>0.1</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.3</radius>
|
||||
<length>0.1</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="back_right_wheel">
|
||||
<pose>-0.8 -0.6 0.3 0 1.5707 1.5707</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.3</radius>
|
||||
<length>0.1</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.3</radius>
|
||||
<length>0.1</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="back_left_wheel">
|
||||
<pose>-0.8 0.6 0.3 0 1.5707 1.5707</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.3</radius>
|
||||
<length>0.1</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.3</radius>
|
||||
<length>0.1</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="gas_pedal">
|
||||
<pose>0.3 0.1 0.5 0 0 0</pose>
|
||||
<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>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Red</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="brake_pedal">
|
||||
<pose>0.3 0.25 0.5 0 0 0</pose>
|
||||
<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>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Blue</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="steering_wheel">
|
||||
<pose>0.3 0.2 1.0 0 1.5707 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.1</radius>
|
||||
<length>0.01</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.1</radius>
|
||||
<length>0.01</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Blue</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint type="prismatic" name="gas_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>gas_pedal</child>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0.2</upper>
|
||||
</limit>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint type="prismatic" name="brake_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>brake_pedal</child>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0.2</upper>
|
||||
</limit>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint type="revolute" name="steering_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>steering_wheel</child>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>-7.853</lower>
|
||||
<upper>7.853</upper>
|
||||
</limit>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint type="revolute2" name="front_left_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>front_left_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0</upper>
|
||||
</limit>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
<axis2>
|
||||
<xyz>0 1 0</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis2>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0.0</cfm>
|
||||
<erp>0.9</erp>
|
||||
</limit>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint type="revolute2" name="front_right_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>front_right_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0</upper>
|
||||
</limit>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
<axis2>
|
||||
<xyz>0 1 0</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis2>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0.0</cfm>
|
||||
<erp>0.9</erp>
|
||||
</limit>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint type="revolute2" name="back_right_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>back_right_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0</upper>
|
||||
</limit>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
<axis2>
|
||||
<xyz>0 1 0</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis2>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0.0</cfm>
|
||||
<erp>0.9</erp>
|
||||
</limit>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint type="revolute2" name="back_left_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>back_left_wheel</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>0</lower>
|
||||
<upper>0</upper>
|
||||
</limit>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis>
|
||||
<axis2>
|
||||
<xyz>0 1 0</xyz>
|
||||
<use_parent_model_frame>true</use_parent_model_frame>
|
||||
</axis2>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0.0</cfm>
|
||||
<erp>0.9</erp>
|
||||
</limit>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<plugin filename="libVehiclePlugin.so" name="vehicle">
|
||||
<!-- Joints for each wheel -->
|
||||
<front_left>front_left_joint</front_left>
|
||||
<front_right>front_right_joint</front_right>
|
||||
<back_left>back_left_joint</back_left>
|
||||
<back_right>back_right_joint</back_right>
|
||||
<!-- Joint which controls the gas -->
|
||||
<gas>gas_joint</gas>
|
||||
<!-- Joint which controls the gas -->
|
||||
<brake>brake_joint</brake>
|
||||
<!-- Joint which controls the steering -->
|
||||
<steering>steering_joint</steering>
|
||||
<!-- Power is multiplied by "gas" to determine force applied to wheels -->
|
||||
<front_power>10</front_power>
|
||||
<rear_power>10</rear_power>
|
||||
<!-- The angle range the front tires can turn for steering, in radians -->
|
||||
<tire_angle_range>0.5</tire_angle_range>
|
||||
<!-- Maximum speed for the car in meters/second -->
|
||||
<max_speed>10</max_speed>
|
||||
<!-- Factor for the down-force applied as the car travels faster -->
|
||||
<!-- A larger number increases the down force -->
|
||||
<aero_load>0.1</aero_load>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user