550 lines
21 KiB
XML
550 lines
21 KiB
XML
<?xml version="1.0" ?>
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<!--
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Author: Jonathan Sprinkle, Sam Taylor, Alex Warren, Rahul Bhadani
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Hannah Grace Mason, Joe Macinnes, Landon Chase Bentley
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Copyright (c) 2013-2020 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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=======
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This file specifies 3D structure of the car with their inertial properties
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and other dynamics.
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-->
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<!-- Inertial parameters selected with the help of
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http://www.car-engineer.com/vehicle-inertia-calculation-tool/
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-->
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<robot name="$(arg roboname)" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:arg name="camera_left" default="true"/>
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<xacro:arg name="camera_right" default="true"/>
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<xacro:arg name="triclops" default="true"/>
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<xacro:arg name="velodyne_points" default="true"/>
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<xacro:property name="velodyne_points" value="$(arg velodyne_points)"/>
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<xacro:property name="camera_right" value="$(arg camera_right)"/>
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<xacro:property name="camera_left" value="$(arg camera_left)"/>
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<xacro:property name="triclops" value="$(arg triclops)"/>
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<xacro:property name="camera_box" value="0.1"/>
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<xacro:property name="sensor_box" value="0.25"/>
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<xacro:property name="PI" value="3.1415926835897931"/>
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<xacro:property name="base_height" value="1.0639"/>
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<xacro:property name="base_mass" value="1703.239"/>
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<!--Car's height is the height of bouding box of the 3D
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mesh given by meshlab -->
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<xacro:property name="car_height" value="1.5837572084"/>
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<!-- car_to_bumper is car's length. The value reported here
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is the lenght of the bounding box of the 3D mesh of the car's
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body given by meshlab. Actual length of the car may be slightly
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less and if require, we may use some offset to use this value
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anywhere -->
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<xacro:property name="car_to_bumper" value="4.4324092962"/>
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<xacro:property name="car_COM_x" value="-0.0202"/>
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<xacro:property name="car_COM_y" value="0.0126"/>
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<xacro:property name="car_COM_z" value="-0.0256"/>
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<!-- We are assuming that front bumper's height is half of the car's
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bounding box height -->
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<xacro:property name="front_bumper_height" value="${car_height/2}"/>
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<!--This is the car tread, i.e distance between right and left front wheels-->
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<xacro:property name="car_width" value="1.290"/>
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<xacro:property name="car_width_offset" value="0.05"/>
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<!-- Inertial tensor of car body has been taken from meshlab after
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analyzing the 3D structure of car body -->
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<xacro:property name="base_mass_ixx" value="347.195805"/>
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<xacro:property name="base_mass_ixy" value="-11.4914985"/>
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<xacro:property name="base_mass_ixz" value="18.5070628"/>
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<xacro:property name="base_mass_iyy" value="2330.10026"/>
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<xacro:property name="base_mass_iyz" value="3.97814264"/>
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<xacro:property name="base_mass_izz" value="2529.41827"/>
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<xacro:property name="tyre_x" value="1.05"/>
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<xacro:property name="tyre_front_x" value="1.55"/>
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<xacro:property name="tyre_back_x" value="-1.05"/>
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<xacro:property name="tyre_y" value="0.765"/>
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<xacro:property name="tyre_r" value="0.66"/>
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<!--Below is the thickness of the car's tyre-->
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<xacro:property name="tyre_length" value="0.2336291492"/>
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<xacro:property name="tyre_radius" value="0.3671951254"/>
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<xacro:property name="tyre_mass" value="20"/>
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<!--xacro:property name="tyre_mass_ixx" value="2.53174430759784"/>
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<xacro:property name="tyre_mass_iyy" value="1.43724304615612"/>
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<xacro:property name="tyre_mass_izz" value="1.39917175362076"/>
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<xacro:property name="tyre_mass_ixz" value="0.0295230888350046"/>
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<xacro:property name="tyre_mass_ixy" value="-0.00131884944491474"/>
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<xacro:property name="tyre_mass_iyz" value="-0.00115883839900594"/-->
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<!-- Here we are calculating inertial tensor of a cylinderical body.
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In this model, we didn't use actual mesh of tyre, but a simplified
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cylindrical model. -->
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<xacro:property name="tyre_mass_ixx" value="${((1/2)*tyre_mass*tyre_radius*tyre_radius)}"/>
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<xacro:property name="tyre_mass_iyy" value="${((1/12)*tyre_mass*tyre_length*tyre_length) + ((1/4)*tyre_mass*tyre_radius*tyre_radius)}"/>
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<xacro:property name="tyre_mass_izz" value="${((1/12)*tyre_mass*tyre_length*tyre_length) + ((1/4)*tyre_mass*tyre_radius*tyre_radius)}"/>
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<xacro:property name="tyre_mass_ixz" value="0.0"/>
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<xacro:property name="tyre_mass_ixy" value="0.0"/>
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<xacro:property name="tyre_mass_iyz" value="0.0"/>
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<xacro:property name="tyre_height" value="-0.696"/>
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<xacro:property name="str_mass" value="50.00"/>
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<xacro:property name="str_length" value="0.05"/>
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<xacro:property name="str_radius" value="0.1"/>
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<xacro:property name="front_right_offset" value="0.05"/>
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<xacro:property name="str_mass_ixx" value="${((1/2)*str_mass*str_radius*str_radius)}"/>
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<xacro:property name="str_mass_iyy" value="${((1/12)*str_mass*str_length*str_length) + ((1/4)*str_mass*str_radius*str_radius)}"/>
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<xacro:property name="str_mass_izz" value="${((1/12)*str_mass*str_length*str_length) + ((1/4)*str_mass*str_radius*str_radius)}"/>
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<xacro:property name="str_angle" value="0.6"/>
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<xacro:property name="tyre_origin">
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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</xacro:property>
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<xacro:property name="tyre_origin_2">
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<origin xyz="0 0 0" rpy="0 0 ${PI/2}"/>
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</xacro:property>
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<xacro:property name="tyre_origin_3">
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<origin xyz="0 0 0" rpy="0 0 ${-PI/2}"/>
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</xacro:property>
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<xacro:property name="marker_origin">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:property>
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<xacro:property name="front_laser_size" value="0.25"/>
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<xacro:property name="front_laser_mass" value="1"/>
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<xacro:include filename="$(find catvehicle)/urdf/catvehicle.gazebo"/>
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<!--Back Right Wheel-->
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<!--Car Body-->
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<link name="base_link">
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<collision>
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<origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://catvehicle/meshes/ford_escape_no_wheels_2.dae"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://catvehicle/meshes/ford_escape_no_wheels_2.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="inertial_joint" type="fixed">
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<parent link="base_link"/>
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<child link="main_mass"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</joint>
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<link name="main_mass" type="fixed">
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<parent link="inertial_joint"/>
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<inertial>
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<origin xyz="${car_COM_x} ${car_COM_y} ${car_COM_z}" rpy="0 0 0"/> <!-- This is the center of mass of Car Body-->
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<mass value="${base_mass}"/>
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<inertia
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ixx="${base_mass_ixx}" ixy="${base_mass_ixy}" ixz="${base_mass_ixz}"
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iyy="${base_mass_iyy}" iyz="${base_mass_iyz}"
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izz="${base_mass_izz}"/>
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</inertial>
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</link>
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<!--Back Right Wheel-->
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<joint name="back_right_wheel_joint" type="continuous">
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<parent link="base_link"/>
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<child link="back_right_wheel_link"/>
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<origin xyz="${tyre_back_x} ${-tyre_y} ${tyre_r}" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.01"/>
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<limit effort="10000" velocity="1000" />
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<joint_properties damping="10" friction="10.0" />
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</joint>
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<link name="back_right_wheel_link">
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<collision>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<geometry>
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<cylinder length="${tyre_length}" radius="${tyre_radius}"/>
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<!--mesh filename="package://catvehicle/meshes/ford_escape_wheel.dae"/-->
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>10000000</mu>
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<mu2>7000</mu2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0.0</restitution_coefficient>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0.001</soft_cfm>
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<soft_erp>0.5</soft_erp>
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<kp>10000000</kp>
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<kd>1</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual>
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<!--origin xyz="0 0 0" rpy="${PI/2} 0 0"/-->
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<origin xyz="0 ${car_width_offset*2} 0.0" rpy="0 0 ${-PI/2}"/>
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<geometry>
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<!--cylinder length="${tyre_length}" radius="${tyre_radius}"/>
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<scale xyz="1 1 1"/-->
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<mesh scale="1.2 1 1" filename="package://catvehicle/meshes/ford_escape_wheel.dae"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${tyre_mass}"/>
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<inertia
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ixx="${tyre_mass_ixx}" ixy="${tyre_mass_ixy}" ixz="${tyre_mass_ixz}"
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iyy="${tyre_mass_iyy}" iyz="${tyre_mass_iyz}"
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izz="${tyre_mass_izz}"/>
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</inertial>
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</link>
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<!--Back Left Wheel -->
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<joint name="back_left_wheel_joint" type="continuous">
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<parent link="base_link"/>
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<child link="back_left_wheel_link"/>
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<origin xyz="${tyre_back_x} ${tyre_y} ${tyre_r}" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.01"/>
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<limit effort="10000" velocity="1000" />
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<joint_properties damping="10" friction="10.0" />
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</joint>
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<link name="back_left_wheel_link">
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<collision>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<geometry>
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<cylinder length="${tyre_length}" radius="${tyre_radius}"/>
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<!--mesh filename="package://catvehicle/meshes/ford_escape_wheel.dae"/-->
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>10000000</mu>
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<mu2>7000</mu2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0.0</restitution_coefficient>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0.001</soft_cfm>
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<soft_erp>0.5</soft_erp>
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<kp>10000000</kp>
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<kd>1</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual>
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<!--origin xyz="0 0 0" rpy="${PI/2} 0 0"/-->
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<origin xyz="0 ${-car_width_offset*2} 0.0" rpy="0 0 ${PI/2}"/>
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<geometry>
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<!--cylinder length="${tyre_length}" radius="${tyre_radius}"/-->
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<mesh scale="1.2 1 1" filename="package://catvehicle/meshes/ford_escape_wheel.dae"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${tyre_mass}"/>
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<inertia
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ixx="${tyre_mass_ixx}" ixy="${tyre_mass_ixy}" ixz="${tyre_mass_ixz}"
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iyy="${tyre_mass_iyy}" iyz="${tyre_mass_iyz}"
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izz="${tyre_mass_izz}"/>
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</inertial>
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</link>
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<!--Right Steering-->
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<joint name="front_right_steering_joint" type="revolute">
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<parent link="base_link"/>
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<child link="front_right_steering_link"/>
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<origin xyz="${tyre_front_x} ${-car_width/2 - 2*str_length} ${tyre_r}" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="10000" lower="${-str_angle}" upper="${str_angle}" velocity="1000"/>
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</joint>
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<link name="front_right_steering_link">
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<collision>
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<xacro:insert_block name="tyre_origin"/>
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<geometry>
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<cylinder length="${str_length}" radius="${str_radius}"/>
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</geometry>
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</collision>
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<visual>
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<xacro:insert_block name="tyre_origin"/>
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<geometry>
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<cylinder length="${str_length}" radius="${str_radius}"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${str_mass}"/>
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<inertia
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ixx="${str_mass_ixx}" ixy="0.000000" ixz="0.000000"
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iyy="${str_mass_iyy}" iyz="0.000000"
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izz="${str_mass_izz}"/>
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</inertial>
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</link>
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<!--Front Right Wheel-->
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<joint name="front_right_wheel_joint" type="continuous">
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<parent link="front_right_steering_link"/>
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<child link="front_right_wheel_link"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.01"/>
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<limit effort="10000" velocity="1000"/>
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<joint_properties damping="10" friction="10.0" />
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</joint>
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<link name="front_right_wheel_link">
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<collision>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<!--origin xyz="0 0 0" rpy="0 0 ${-PI/2}"/-->
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<geometry>
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<cylinder length="${tyre_length}" radius="${tyre_radius}"/>
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<!--mesh filename="package://catvehicle/meshes/ford_escape_wheel.dae"/-->
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>10000000</mu>
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<mu2>7000</mu2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0.0</restitution_coefficient>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0.001</soft_cfm>
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<soft_erp>0.5</soft_erp>
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<kp>10000000</kp>
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<kd>1</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual>
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<!--origin xyz="0 0 0" rpy="${PI/2} 0 0"/-->
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<origin xyz="0 ${car_width_offset*2} 0.0" rpy="0 0 ${-PI/2}"/>
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<geometry>
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<!--cylinder length="${tyre_length}" radius="${tyre_radius}"/>
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<scale xyz="1 1 1"/-->
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<mesh scale="1.2 1 1" filename="package://catvehicle/meshes/ford_escape_wheel.dae"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${tyre_mass}"/>
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<inertia
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ixx="${tyre_mass_ixx}" ixy="${tyre_mass_ixy}" ixz="${tyre_mass_ixz}"
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iyy="${tyre_mass_iyy}" iyz="${tyre_mass_iyz}"
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izz="${tyre_mass_izz}"/>
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</inertial>
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</link>
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<!--Left Steering-->
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<joint name="front_left_steering_joint" type="revolute">
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<parent link="base_link"/>
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<child link="front_left_steering_link"/>
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<origin xyz="${tyre_front_x} ${car_width/2 + 2*str_length} ${tyre_r}" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="10000" lower="${-str_angle}" upper="${str_angle}" velocity="1000"/>
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</joint>
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<link name="front_left_steering_link">
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<parent link="base_link"/>
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<collision>
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<xacro:insert_block name="tyre_origin"/>
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<geometry>
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<cylinder length="${str_length}" radius="${str_radius}"/>
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</geometry>
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</collision>
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<visual>
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<xacro:insert_block name="tyre_origin"/>
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<geometry>
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<cylinder length="${str_length}" radius="${str_radius}"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${str_mass}"/>
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<inertia
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ixx="${str_mass_ixx}" ixy="0.000000" ixz="0.000000"
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iyy="${str_mass_iyy}" iyz="0.000000"
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izz="${str_mass_izz}"/>
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</inertial>
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</link>
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<!--Front Left Wheel-->
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<joint name="front_left_wheel_joint" type="continuous">
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<parent link="front_left_steering_link"/>
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<child link="front_left_wheel_link"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.01"/>
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<limit effort="10000" velocity="1000" />
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<joint_properties damping="10" friction="10.0" />
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</joint>
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<link name="front_left_wheel_link">
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<parent link="front_left_wheel_joint"/>
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<collision>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<!--origin xyz="0 0 0" rpy="0 0 ${PI/2}"/-->
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<geometry>
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<cylinder length="${tyre_length}" radius="${tyre_radius}"/>
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<!--mesh filename="package://catvehicle/meshes/ford_escape_wheel.dae"/-->
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>10000000</mu>
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<mu2>7000</mu2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0.0</restitution_coefficient>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0.001</soft_cfm>
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<soft_erp>0.5</soft_erp>
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<kp>10000000</kp>
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<kd>1</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual>
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<!--origin xyz="0 0 0" rpy="${PI/2} 0 0"/-->
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<origin xyz="0 ${-car_width_offset*2} 0.0" rpy="0 0 ${PI/2}"/>
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<geometry>
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<!--cylinder length="${tyre_length}" radius="${tyre_radius}"/-->
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<mesh scale="1.2 1 1" filename="package://catvehicle/meshes/ford_escape_wheel.dae"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${tyre_mass}"/>
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<inertia
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ixx="${tyre_mass_ixx}" ixy="${tyre_mass_ixy}" ixz="${tyre_mass_ixz}"
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iyy="${tyre_mass_iyy}" iyz="${tyre_mass_iyz}"
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izz="${tyre_mass_izz}"/>
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</inertial>
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</link>
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<!-- motors and transmissions for the two rear wheels -->
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<transmission name="tran1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="back_right_wheel_joint">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor1">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="tran2">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="back_left_wheel_joint">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor2">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="rack_and_pinion_left">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="front_left_steering_joint">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="eps_left">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="rack_and_pinion_right">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="front_right_steering_joint">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="eps_right">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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</robot>
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