mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
74 lines
2.8 KiB
XML
74 lines
2.8 KiB
XML
<?xml version="1.0"?>
|
|
|
|
<!--
|
|
Reference:
|
|
[1] https://answers.ros.org/question/246914/four-wheeled-skid-steering-in-gazebo-and-ros-using-gazebo-ros-control/
|
|
[2] https://answers.ros.org/question/10119/gazebo-controller-for-skid-steering/
|
|
[3] https://answers.ros.org/question/9640/rotation-error-in-gazebo-simulation/
|
|
[4] https://www.youtube.com/watch?v=fuRAv6PDwdw
|
|
-->
|
|
|
|
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
|
<xacro:include filename="$(find scout_description)/urdf/scout_wheel.gazebo" />
|
|
|
|
<!-- Additional definitions for simulation -->
|
|
<!-- <gazebo reference="base_link">
|
|
<material>Gazebo/Grey</material>
|
|
</gazebo> -->
|
|
|
|
<!-- Actuator configurations -->
|
|
<xacro:scout_wheel_transmission wheel_prefix="front_right" />
|
|
<xacro:scout_wheel_transmission wheel_prefix="front_left" />
|
|
<xacro:scout_wheel_transmission wheel_prefix="rear_left" />
|
|
<xacro:scout_wheel_transmission wheel_prefix="rear_right" />
|
|
|
|
<!-- Controller configurations -->
|
|
<gazebo>
|
|
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
|
<robotNamespace>$(arg robot_namespace)</robotNamespace>
|
|
</plugin>
|
|
</gazebo>
|
|
|
|
<!-- kp spring constant, kd damping constant -->
|
|
<gazebo>
|
|
<mu1 value="1.0"/>
|
|
<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>
|
|
<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> |