mirror of
https://github.com/westonrobot/scout_ros.git
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111 lines
4.3 KiB
XML
111 lines
4.3 KiB
XML
<?xml version="1.0"?>
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<!--
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Reference:
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[1] https://answers.ros.org/question/246914/four-wheeled-skid-steering-in-gazebo-and-ros-using-gazebo-ros-control/
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[2] https://answers.ros.org/question/10119/gazebo-controller-for-skid-steering/
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[3] https://answers.ros.org/question/9640/rotation-error-in-gazebo-simulation/
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[4] https://www.youtube.com/watch?v=fuRAv6PDwdw
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-->
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel.gazebo" />
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<!-- Additional definitions for simulation -->
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<!-- <gazebo reference="base_link">
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<material>Gazebo/Grey</material>
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</gazebo> -->
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<!-- Actuator configurations -->
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<xacro:scout_wheel_transmission wheel_prefix="front_right" />
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<xacro:scout_wheel_transmission wheel_prefix="front_left" />
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<xacro:scout_wheel_transmission wheel_prefix="rear_left" />
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<xacro:scout_wheel_transmission wheel_prefix="rear_right" />
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<!-- Controller configurations -->
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>$(arg robot_namespace)</robotNamespace>
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</plugin>
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</gazebo>
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<!-- kp spring constant, kd damping constant -->
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<gazebo>
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<mu1 value="1.0"/>
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<mu2 value="1.0"/>
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<kp value="10000000.0" />
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<kd value="1.0" />
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<fdir1 value="1 0 0"/>
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<minDepth value="0.001" />
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<maxContacts value="64"/>
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</gazebo>
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<!-- hokuyo -->
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<gazebo reference="hokuyo_link">
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<sensor type="ray" name="head_hokuyo_sensor">
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<pose>0 0 0 0 0 0</pose>
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<visualize>false</visualize>
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<update_rate>40</update_rate>
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<ray>
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<scan>
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<horizontal>
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<samples>720</samples>
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<resolution>1</resolution>
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<min_angle>-1.570796</min_angle>
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<max_angle>1.570796</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.10</min>
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<max>30.0</max>
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<resolution>0.01</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<!-- Noise parameters based on published spec for Hokuyo laser
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achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
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stddev of 0.01m will put 99.7% of samples within 0.03m of the true
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reading. -->
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<mean>0.0</mean>
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<stddev>0.01</stddev>
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</noise>
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</ray>
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<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
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<topicName>/scan</topicName>
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<frameName>hokuyo_link</frameName>
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</plugin>
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</sensor>
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</gazebo>
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<!-- <gazebo>
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<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
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<updateRate>100.0</updateRate>
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<robotNamespace></robotNamespace>
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<leftFrontJoint>front_left_wheel</leftFrontJoint>
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<rightFrontJoint>front_right_wheel</rightFrontJoint>
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<leftRearJoint>rear_left_wheel</leftRearJoint>
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<rightRearJoint>rear_right_wheel</rightRearJoint>
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<wheelSeparation>4</wheelSeparation>
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<wheelDiameter>0.32918</wheelDiameter>
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<robotBaseFrame>base_link</robotBaseFrame>
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<torque>1000</torque>
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<commandTopic>cmd_vel</commandTopic>
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<broadcastTF>true</broadcastTF>
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<odometryTopic>odom</odometryTopic>
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<odometryFrame>odom</odometryFrame>
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<covariance_x>0.000100</covariance_x>
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<covariance_y>0.000100</covariance_y>
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<covariance_yaw>0.010000</covariance_yaw>
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</plugin>
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</gazebo> -->
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<!-- <gazebo>
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<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
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<commandTopic>cmd_vel</commandTopic>
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<odometryTopic>odom</odometryTopic>
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<odometryFrame>odom</odometryFrame>
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<odometryRate>20.0</odometryRate>
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<robotBaseFrame>base_footprint</robotBaseFrame>
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</plugin>
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</gazebo> -->
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</robot> |