gazebo_models/pioneer3at/model-1_4.sdf

<?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>