forked from xtdrone/XTDrone
108 lines
3.7 KiB
XML
108 lines
3.7 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from catvehicle.gazebo | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<!--
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Author: Jonathan Sprinkle, Sam Taylor, Alex Warren
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Copyright (c) 2015 Arizona Board of Regents
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All rights reserved.
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Permission is hereby granted, without written agreement and without
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license or royalty fees, to use, copy, modify, and distribute this
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software and its documentation for any purpose, provided that the
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above copyright notice and the following two paragraphs appear in
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all copies of this software.
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IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
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FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
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ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
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IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
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SUCH DAMAGE.
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THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
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INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
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AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
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IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
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TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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Summary:
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This file includes the control interfaces for ROS-based control
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through Gazebo. For more information and for the tutorials used to create
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this file, see
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http://gazebosim.org/tutorials/?tut=ros_control#Prerequisites
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Sensors are included separately, based on the arguments passed to the xacro include
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-->
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<robot name="catvehicle">
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<gazebo reference="back_right_wheel_link">
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<mu1>10000</mu1>
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<mu2>10000</mu2>
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<kp>10000000</kp>
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<kd>1</kd>
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<minDepth>0.01</minDepth>
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<maxVel>10.0</maxVel>
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</gazebo>
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<gazebo reference="back_left_wheel_link">
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<mu1>10000</mu1>
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<mu2>10000</mu2>
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<kp>10000000</kp>
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<kd>1</kd>
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<minDepth>0.01</minDepth>
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<maxVel>10.0</maxVel>
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</gazebo>
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<gazebo reference="front_right_wheel_link">
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<mu1>10000</mu1>
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<mu2>10000</mu2>
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<kp>1000000</kp>
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<kd>1</kd>
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<minDepth>0.01</minDepth>
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<maxVel>100.0</maxVel>
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</gazebo>
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<gazebo reference="front_left_wheel_link">
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<mu1>10000</mu1>
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<mu2>10000</mu2>
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<kp>1000000</kp>
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<kd>1</kd>
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<minDepth>0.01</minDepth>
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<maxVel>100.0</maxVel>
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</gazebo>
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<gazebo reference="front_right_steering_link">
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<mu1>0.6</mu1>
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<mu2>0.5</mu2>
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<kp>1000000</kp>
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<kd>0.1</kd>
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<minDepth>0.01</minDepth>
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<maxVel>10.0</maxVel>
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</gazebo>
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<gazebo reference="front_left_steering_link">
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<mu1>0.6</mu1>
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<mu2>0.5</mu2>
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<kp>1000000</kp>
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<kd>0.1</kd>
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<minDepth>0.01</minDepth>
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<maxVel>10.0</maxVel>
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</gazebo>
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<gazebo>
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<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
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<robotNamespace>/catvehicle</robotNamespace>
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<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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</plugin>
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</gazebo>
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<gazebo>
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<plugin filename="libgazebo_ros_joint_state_publisher.so" name="joint_state_publisher">
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<jointName>back_left_wheel_joint, back_right_wheel_joint, front_left_steering_joint, front_right_steering_joint, front_right_wheel_joint, front_left_wheel_joint</jointName>
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<updateRate>50.0</updateRate>
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<robotNamespace>/catvehicle</robotNamespace>
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<alwaysOn>true</alwaysOn>
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</plugin>
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</gazebo>
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<gazebo>
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<plugin filename="libcatvehiclegazebo.so" name="cmdvel_controller">
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<robotNamespace>/catvehicle</robotNamespace>
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</plugin>
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</gazebo>
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</robot>
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