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updated scout v2 urdf

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This commit is contained in:
Ruixiang Du
2020-03-24 22:48:57 +08:00
parent f249b5147b
commit 5279161dbf
9 changed files with 1167 additions and 546 deletions
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45
scout_description/urdf/scout_v2.gazebo Normal file
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<?xml version="1.0"?>
<robot>
<!-- <gazebo reference="base_link">
<material>Gazebo/Grey</material>
</gazebo> -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace></robotNamespace>
</plugin>
</gazebo>
<gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
<updateRate>100.0</updateRate>
<robotNamespace></robotNamespace>
<leftFrontJoint>front_left_wheel</leftFrontJoint>
<rightFrontJoint>front_right_wheel</rightFrontJoint>
<leftRearJoint>rear_left_wheel</leftRearJoint>
<rightRearJoint>rear_right_wheel</rightRearJoint>
<wheelSeparation>4</wheelSeparation>
<wheelDiameter>0.32918</wheelDiameter>
<robotBaseFrame>base_link</robotBaseFrame>
<torque>1000</torque>
<!-- <topicName>cmd_vel</topicName> -->
<commandTopic>cmd_vel</commandTopic>
<broadcastTF>1</broadcastTF>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<covariance_x>0.000100</covariance_x>
<covariance_y>0.000100</covariance_y>
<covariance_yaw>0.010000</covariance_yaw>
</plugin>
</gazebo>
<!-- <gazebo>
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometryRate>20.0</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo> -->
</robot>