mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 03:15:01 +08:00
saved work
This commit is contained in:
Ruixiang Du
12
NOTE.md
12
NOTE.md
@@ -1,3 +1,15 @@
|
||||
```
|
||||
$ rostopic pub -1 /scout_motor_fl_controller/command std_msgs/Float64 "data: 0.5"
|
||||
```
|
||||
|
||||
Convert xacro to urdf
|
||||
|
||||
```
|
||||
$ rosrun xacro xacro -o model.urdf model.urdf.xacro
|
||||
```
|
||||
|
||||
Convert urdf to sdf
|
||||
|
||||
```
|
||||
$ gz sdf -p scout_v2.urdf > scout_v2.sdf
|
||||
```
|
||||
277
scout_description/urdf/scout_v2.urdf
Normal file
277
scout_description/urdf/scout_v2.urdf
Normal file
@@ -0,0 +1,277 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from scout_v2.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="scout_v2">
|
||||
<!-- Virtual link as root -->
|
||||
<link name="vehicle_reference"/>
|
||||
<joint name="veh_ref_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="vehicle_reference"/>
|
||||
<child link="base_link"/>
|
||||
</joint>
|
||||
<!-- Base link -->
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/base_link.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="40"/>
|
||||
<!-- <mass value="50" /> -->
|
||||
<!-- <origin xyz="-0.00065 -0.085 0.062" />
|
||||
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
|
||||
<origin xyz="0.0 0.0 0.0"/>
|
||||
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.008"/>
|
||||
<geometry>
|
||||
<box size="0.925 0.38 0.21"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.035"/>
|
||||
<geometry>
|
||||
<box size="0.154166666667 0.627 0.07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- Base footprint: base_link projected to the gound plane -->
|
||||
<link name="base_footprint"/>
|
||||
<joint name="base_footprint_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.23479"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="base_footprint"/>
|
||||
</joint>
|
||||
<link name="front_right_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.11653" radius="0.16459"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="front_right_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="front_right_wheel_link"/>
|
||||
<origin rpy="3.14 0 0" xyz="0.249 -0.29153 -0.0702"/>
|
||||
<axis rpy="0 0 0" xyz="0 -1 0"/>
|
||||
</joint>
|
||||
<link name="front_left_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.11653" radius="0.16459"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="front_left_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="front_left_wheel_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.249 0.29153 -0.0702"/>
|
||||
<axis rpy="0 0 0" xyz="0 -1 0"/>
|
||||
</joint>
|
||||
<link name="rear_left_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.11653" radius="0.16459"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rear_left_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="rear_left_wheel_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.249 0.29153 -0.0702"/>
|
||||
<axis rpy="0 0 0" xyz="0 -1 0"/>
|
||||
</joint>
|
||||
<link name="rear_right_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.11653" radius="0.16459"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rear_right_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="rear_right_wheel_link"/>
|
||||
<origin rpy="3.14 0 0" xyz="-0.249 -0.29153 -0.0702"/>
|
||||
<axis rpy="0 0 0" xyz="0 -1 0"/>
|
||||
</joint>
|
||||
<!-- For testing, hang the robot up in the air -->
|
||||
<!-- <link name="world" />
|
||||
<joint name="world_to_base_link=" type="fixed">
|
||||
<origin xyz="0 0 0.5" rpy="0 0 0" />
|
||||
<parent link="world"/>
|
||||
<child link="base_link"/>
|
||||
</joint> -->
|
||||
<!-- This file is a placeholder which is included by default from
|
||||
husky.urdf.xacro. If a robot is being customized and requires
|
||||
additional URDF, set the HUSKY_URDF_EXTRAS environment variable
|
||||
to the full path of the file you would like included. -->
|
||||
<!-- Additional definitions for simulation -->
|
||||
<!-- <gazebo reference="base_link">
|
||||
<material>Gazebo/Grey</material>
|
||||
</gazebo> -->
|
||||
<!-- kp spring constant, kd damping constant -->
|
||||
<gazebo reference="front_right_wheel_link">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<minDepth value="0.001"/>
|
||||
<maxContacts value="64"/>
|
||||
</gazebo>
|
||||
<transmission name="front_right_wheel_trans" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<actuator name="front_right_wheel_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
<joint name="front_right_wheel">
|
||||
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
</transmission>
|
||||
<!-- kp spring constant, kd damping constant -->
|
||||
<gazebo reference="front_left_wheel_link">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<minDepth value="0.001"/>
|
||||
<maxContacts value="64"/>
|
||||
</gazebo>
|
||||
<transmission name="front_left_wheel_trans" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<actuator name="front_left_wheel_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
<joint name="front_left_wheel">
|
||||
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
</transmission>
|
||||
<!-- kp spring constant, kd damping constant -->
|
||||
<gazebo reference="rear_left_wheel_link">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<minDepth value="0.001"/>
|
||||
<maxContacts value="64"/>
|
||||
</gazebo>
|
||||
<transmission name="rear_left_wheel_trans" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<actuator name="rear_left_wheel_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
<joint name="rear_left_wheel">
|
||||
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
</transmission>
|
||||
<!-- kp spring constant, kd damping constant -->
|
||||
<gazebo reference="rear_right_wheel_link">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<minDepth value="0.001"/>
|
||||
<maxContacts value="64"/>
|
||||
</gazebo>
|
||||
<transmission name="rear_right_wheel_trans" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<actuator name="rear_right_wheel_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
<joint name="rear_right_wheel">
|
||||
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
</transmission>
|
||||
<!-- Controller configurations -->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<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>
|
||||
<commandTopic>cmd_vel</commandTopic>
|
||||
<broadcastTF>true</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>
|
||||
@@ -24,14 +24,30 @@
|
||||
<xacro:property name="wheel_length" value="1.1653e-01" />
|
||||
<xacro:property name="wheel_radius" value="1.6459e-01" />
|
||||
|
||||
<!-- Virtual link as root -->
|
||||
<link name="vehicle_reference" />
|
||||
<joint name="veh_ref_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<parent link="vehicle_reference" />
|
||||
<child link="base_link" />
|
||||
</joint>
|
||||
|
||||
<!-- Base link -->
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/base_link_full.dae" />
|
||||
<mesh filename="package://scout_description/meshes/base_link.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="40" />
|
||||
<!-- <mass value="50" /> -->
|
||||
<!-- <origin xyz="-0.00065 -0.085 0.062" />
|
||||
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
|
||||
<origin xyz="0.0 0.0 0.0" />
|
||||
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin xyz="0 0 0.008" rpy="0 0 0" />
|
||||
<geometry>
|
||||
@@ -55,21 +71,6 @@
|
||||
<child link="base_footprint" />
|
||||
</joint>
|
||||
|
||||
<!-- Interial link -->
|
||||
<link name="inertial_link">
|
||||
<inertial>
|
||||
<mass value="46.034" />
|
||||
<origin xyz="-0.00065 -0.085 0.062" />
|
||||
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="inertial_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="inertial_link" />
|
||||
</joint>
|
||||
|
||||
<!-- Scout wheel macros -->
|
||||
<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
|
||||
<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
|
||||
|
||||
@@ -28,23 +28,17 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="scout_wheel">
|
||||
|
||||
<xacro:macro name="scout_wheel_transmission" params="wheel_prefix">
|
||||
<!-- kp spring constant, kd damping constant -->
|
||||
<gazebo reference="${wheel_prefix}_wheel_link">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="0.6"/>
|
||||
<mu2 value="0.9"/>
|
||||
<kp value="10000000.0" />
|
||||
<kd value="1.0" />
|
||||
<fdir1 value="1 0 0"/>
|
||||
<minDepth value="0.001" />
|
||||
<maxContacts value="64"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- <gazebo reference="${wheel_prefix}_wheel_link">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0" />
|
||||
<kd value="1.0" />
|
||||
<fdir1 value="1 0 0"/>
|
||||
</gazebo> -->
|
||||
|
||||
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<actuator name="${wheel_prefix}_wheel_motor">
|
||||
|
||||
@@ -30,9 +30,9 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
|
||||
<xacro:macro name="scout_wheel_type1" params="wheel_prefix *joint_pose">
|
||||
<link name="${wheel_prefix}_wheel_link">
|
||||
<inertial>
|
||||
<mass value="2.637" />
|
||||
<mass value="3" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467" />
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
|
||||
@@ -30,9 +30,9 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
|
||||
<xacro:macro name="scout_wheel_type2" params="wheel_prefix *joint_pose">
|
||||
<link name="${wheel_prefix}_wheel_link">
|
||||
<inertial>
|
||||
<mass value="2.637" />
|
||||
<mass value="3" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467" />
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
|
||||
@@ -1,36 +1,10 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
Software License Agreement (BSD)
|
||||
|
||||
\file husky_empty_world.launch
|
||||
\authors Paul Bovbel <pbovbel@clearpathrobotics.com, Devon Ash <dash@clearpathrobotics.com>
|
||||
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
|
||||
the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
|
||||
following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
|
||||
following disclaimer in the documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
|
||||
products derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
|
||||
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
|
||||
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
|
||||
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
-->
|
||||
<launch>
|
||||
|
||||
<arg name="robot_namespace" default="/"/>
|
||||
<arg name="world_name" default="worlds/empty.world"/>
|
||||
<arg name="world_name" default="$(find scout_gazebo_sim)worlds/weston_robot_empty.world"/>
|
||||
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(arg world_name)"/>
|
||||
<!-- world_name is wrt GAZEBO_RESOURCE_PATH environment variable -->
|
||||
<arg name="paused" value="false"/>
|
||||
<arg name="use_sim_time" value="true"/>
|
||||
<arg name="gui" value="true"/>
|
||||
|
||||
@@ -29,6 +29,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
|
||||
<arg name="world_name" default="$(find scout_gazebo_sim)/worlds/clearpath_playpen.world"/>
|
||||
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="physics" value="bullet" />
|
||||
<arg name="world_name" value="$(arg world_name)"/>
|
||||
<arg name="paused" value="false"/>
|
||||
<arg name="use_sim_time" value="true"/>
|
||||
|
||||
29
scout_gazebo_sim/worlds/weston_robot_empty.world
Normal file
29
scout_gazebo_sim/worlds/weston_robot_empty.world
Normal file
@@ -0,0 +1,29 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<world name="default">
|
||||
<!-- A global light source -->
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
|
||||
<!-- A ground plane -->
|
||||
<include>
|
||||
<uri>model://ground_plane</uri>
|
||||
</include>
|
||||
|
||||
<!-- Physics -->
|
||||
<!-- <physics type="ode">
|
||||
<ode>
|
||||
<solver>
|
||||
<type>world</type>
|
||||
</solver>
|
||||
<constraints>
|
||||
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
|
||||
<contact_surface_layer>0.0001</contact_surface_layer>
|
||||
</constraints>
|
||||
</ode>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
</physics>
|
||||
<gravity>0.0 0.0 -9.81</gravity> -->
|
||||
</world>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user