mobot模型-ROS2Gazebo9附2

<?xml version="1.0"?>
<robot>

  <!--skid_steer_drive_controller-->
  <gazebo>
    <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_diff_drive.so">
      <ros>
        <namespace>/mobot</namespace>
        <argument>/cmd_vel:=mr_cme_vel</argument>
        <argument>/odom:=odom</argument>
      </ros>
      <update_rate>100.0</update_rate>
      <num_wheel_pairs>2</num_wheel_pairs>
      <odometry_frame>odom</odometry_frame>

      <left_joint>front_left_wheel_joint</left_joint>
      <left_joint>back_left_wheel_joint</left_joint>
      <wheel_separation>0.4</wheel_separation>
      <wheel_diameter>0.2</wheel_diameter>

      <right_joint>front_right_wheel_joint</right_joint>
      <right_joint>back_right_wheel_joint</right_joint>
      <wheel_separation>0.4</wheel_separation>
      <wheel_diameter>0.2</wheel_diameter>

      <robot_base_frame>robot_footprint</robot_base_frame>
      <max_wheel_torque>20</max_wheel_torque>

      <publish_odom>true</publish_odom>
      <publish_odom_tf>true</publish_odom_tf>
      <publish_wheel_tf>true</publish_wheel_tf>

      <odometry_source>world</odometry_source>
    </plugin>
  </gazebo>

  <!-- camera -->
  <gazebo reference="camera">
    <sensor type="camera" name="camera_sensor">
      <update_rate>30.0</update_rate>
      <always_on>1</always_on>

      <camera name="camera">
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>800</width>
          <height>800</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <distortion>
          <k1>0.0</k1>
          <k2>0.0</k2>
          <k3>0.0</k3>
          <p1>0.0</p1>
          <p2>0.0</p2>
          <center>0.5 0.5</center>
        </distortion>
      </camera>
      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
        <ros>
          <namespace>/mobot</namespace>
          <argument>camera/image_raw:=/mobot/camera/image</argument>
          <argument>camera/camera_info:=/mobot/camera/image/camera_info</argument>
        </ros>
        <camera_name>camera</camera_name>
        <frame_name>camera</frame_name>
        <hack_baseline>0.07</hack_baseline>
      </plugin>
    </sensor>
  </gazebo>

  <!-- hokuyo -->
  <gazebo reference="hokuyo">
    <sensor type="ray" name="head_hokuyo_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>30</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>1</resolution>
            <min_angle>-1.570796</min_angle>
            <max_angle>1.570796</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <!-- Noise parameters based on published spec for Hokuyo laser
                achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
                stddev of 0.01m will put 99.7% of samples within 0.03m of the true
                reading. -->
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <update_rate>30</update_rate>
      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_ray_sensor.so">
        <ros>
          <namespace>/mobot</namespace>
          <argument>~/out:=scan</argument>
        </ros>
        <output_type>sensor_msgs/LaserScan</output_type>
      </plugin>
    </sensor>
  </gazebo>

</robot>

<?xml version='1.0'?>

<robot name="mobot" 
  xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:include filename="mobot.gazebo" />

  <link name="robot_footprint"></link>

  <joint name="robot_footprint_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="robot_footprint"/>
    <child link="chassis" />
  </joint>

  <link name='chassis'>
    <pose>0 0 0.1 0 0 0</pose>

    <inertial>
      <mass value="15.0"/>
      <origin xyz="0.0 0 0" rpy=" 0 0 0"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
    </inertial>

    <collision name='collision'>
      <origin xyz="0 0 0" rpy=" 0 0 0"/>
      <geometry>
        <box size=".4 .2 .1"/>
      </geometry>
    </collision>

    <visual name='chassis_visual'>
      <origin xyz="0 0 0" rpy=" 0 0 0"/>
      <geometry>
        <box size=".4 .2 .1"/>
      </geometry>
    </visual>

  </link>
  <link name="front_left_wheel">
    <inertial>
      <mass value="5.0"/>
      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
    </inertial>

    <visual>
      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
      <geometry>
        <cylinder length="0.05" radius="0.06"/>
      </geometry>
    </visual>

    <collision>
      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
      <geometry>
        <cylinder length="0.05" radius="0.06"/>
      </geometry>
    </collision>
  </link>

  <link name="back_left_wheel">
    <inertial>
      <mass value="5.0"/>
      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
    </inertial>

    <visual>
      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
      <geometry>
        <cylinder length="0.05" radius="0.06"/>
      </geometry>
    </visual>

    <collision>
      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
      <geometry>
        <cylinder length="0.05" radius="0.06"/>
      </geometry>
    </collision>
  </link>

  <link name="front_right_wheel">
    <inertial>
      <mass value="5.0"/>
      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
    </inertial>

    <visual>
      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
      <geometry>
        <cylinder length="0.05" radius="0.06"/>
      </geometry>
    </visual>

    <collision>
      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
      <geometry>
        <cylinder length="0.05" radius="0.06"/>
      </geometry>
    </collision>
  </link>

  <link name="back_right_wheel">
    <inertial>
      <mass value="5.0"/>
      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
    </inertial>

    <visual>
      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
      <geometry>
        <cylinder length="0.05" radius="0.06"/>
      </geometry>
    </visual>

    <collision>
      <origin xyz="0.0 0 0" rpy=" 0 1.5707 1.5707"/>
      <geometry>
        <cylinder length="0.05" radius="0.06"/>
      </geometry>
    </collision>
  </link>

  <link name="camera">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0.05 0.05 0.05" rpy=" 0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>

    <visual name="camera_visual">
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.05 0.05 0.05"/>
      </geometry>
    </visual>

    <collision name="camera_colision">
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.05 0.05 0.05"/>
      </geometry>
    </collision>
  </link>

  <link name="hokuyo">
    <inertial>
      <mass value="1e-5"/>
      <origin xyz="0 0 0" rpy=" 0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>

    <visual name="hokuyo_visual">
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="$(find mobot)/meshes/hokuyo.dae"/> -->
        <box size="0.05 0.05 0.05"/>
      </geometry>
    </visual>

    <collision name="hokuyo_colision">
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
    </collision>
  </link>


  <joint type="continuous" name="front_left_wheel_joint">
    <origin xyz="0.12 0.15 0" rpy="0 0 0"/>
    <child link="front_left_wheel"/>
    <parent link="chassis"/>
    <axis xyz="0 1 0" rpy="0 0 0"/>
    <limit effort="10000" velocity="1000"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>

  <joint type="continuous" name="front_right_wheel_joint">
    <origin xyz="0.12 -0.15 0" rpy="0 0 0"/>
    <child link="front_right_wheel"/>
    <parent link="chassis"/>
    <axis xyz="0 1 0" rpy="0 0 0"/>
    <limit effort="10000" velocity="1000"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>

  <joint type="continuous" name="back_left_wheel_joint">
    <origin xyz="-0.12 0.15 0" rpy="0 0 0"/>
    <child link="back_left_wheel"/>
    <parent link="chassis"/>
    <axis xyz="0 1 0" rpy="0 0 0"/>
    <limit effort="10000" velocity="1000"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>

  <joint type="continuous" name="back_right_wheel_joint">
    <origin xyz="-0.12 -0.15 0" rpy="0 0 0"/>
    <child link="back_right_wheel"/>
    <parent link="chassis"/>
    <axis xyz="0 1 0" rpy="0 0 0"/>
    <limit effort="10000" velocity="1000"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>

  <joint type="fixed" name="camera_joint">
    <origin xyz="0.2 0 0" rpy="0 0 0"/>
    <child link="camera"/>
    <parent link="chassis"/>
    <axis xyz="0 1 0" rpy="0 0 0"/>
  </joint>

  <joint type="fixed" name="hokuyo_joint">
    <origin xyz="0.15 0 0.1" rpy="0 0 0"/>
    <child link="hokuyo"/>
    <parent link="chassis"/>
    <axis xyz="0 1 0" rpy="0 0 0"/>
  </joint>

  <gazebo reference="chassis">
    <material>Gazebo/Blue</material>
  </gazebo>

  <gazebo reference="camera">
    <material>Gazebo/Red</material>
  </gazebo>

  <gazebo reference="hokuyo">
    <material>Gazebo/Black</material>
  </gazebo>

  <gazebo reference="front_left_wheel">
    <material>Gazebo/Gray</material>
  </gazebo>

  <gazebo reference="back_left_wheel">
    <material>Gazebo/Gray</material>
  </gazebo>

  <gazebo reference="front_right_wheel">
    <material>Gazebo/Gray</material>
  </gazebo>

  <gazebo reference="back_right_wheel">
    <material>Gazebo/Gray</material>
  </gazebo>

</robot>