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- <?xml version="1.0"?>
- <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
- <xacro:macro name="telemax_base_gazebo_plugins">
- <!-- Base link gazebo properties TODO should this be chassis link?-->
- <!-- <gazebo reference="base_link">
- <mu1>0.0</mu1>
- <mu2>0.0</mu2>
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>1.0</maxVel>
- </gazebo>-->
- <gazebo>
- <!-- Publish ground truth -->
- <plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>50.0</updateRate>
- <bodyName>base_link</bodyName>
- <topicName>ground_truth/state</topicName>
- <gaussianNoise>0.01</gaussianNoise>
- <frameName>world</frameName>
- <xyzOffsets>0 0 0</xyzOffsets>
- <rpyOffsets>0 0 0</rpyOffsets>
- </plugin>
- <!-- IMU plugin -->
- <plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>50.0</updateRate>
- <bodyName>base_link</bodyName>
- <topicName>imu/data</topicName>
- <accelDrift>0.0 0.0 0.0</accelDrift>
- <accelGaussianNoise>0.1 0.1 0.1</accelGaussianNoise>
- <rateDrift>0.0 0.0 0.0</rateDrift>
- <rateGaussianNoise>0.05 0.05 0.05</rateGaussianNoise>
- <headingDrift>0.0</headingDrift>
- <headingGaussianNoise>0.05</headingGaussianNoise>
- </plugin>
- </gazebo>
- </xacro:macro>
- <xacro:macro name="tracked_vehicle_gazebo_plugin" params="tracks_separation">
- <gazebo reference="main_track_left_fixed_joint">
- <preserveFixedJoint>true</preserveFixedJoint>
- </gazebo>
- <gazebo reference="main_track_right_fixed_joint">
- <preserveFixedJoint>true</preserveFixedJoint>
- </gazebo>
- <xacro:set_track_gazebo_properties link="flipper_front_left_link"/>
- <xacro:set_track_gazebo_properties link="flipper_back_left_link"/>
- <xacro:set_track_gazebo_properties link="flipper_front_right_link"/>
- <xacro:set_track_gazebo_properties link="flipper_back_right_link"/>
- <gazebo>
- <plugin filename="libgazebo_ros_tracked_vehicle_plugin.so" name="multi_tracked_vehicle">
- <command_topic>/cmd_vel_raw</command_topic>
- <body>base_link</body>
- <left_track0>flipper_front_left_link</left_track0>
- <left_track1>flipper_back_left_link</left_track1>
- <right_track0>flipper_front_right_link</right_track0>
- <right_track1>flipper_back_right_link</right_track1>
- <track_mu>0.7</track_mu>
- <track_mu2>150</track_mu2>
- <tracks_separation>${tracks_separation}</tracks_separation>
- <steering_efficiency>0.5</steering_efficiency>
- <max_linear_speed>1.0</max_linear_speed>
- <max_angular_speed>1.0</max_angular_speed>
- </plugin>
- <plugin filename="libkeys_to_cmd_vel_plugin.so" name="keyboard_control">
- <cmd_vel_topic>~/robot_description_gazebo/cmd_vel</cmd_vel_topic>
- </plugin>
- </gazebo>
- </xacro:macro>
- <xacro:macro name="set_track_gazebo_properties" params="link">
- <gazebo reference="${link}">
- <!-- <mu1>0.0</mu1>
- <mu2>0.0</mu2>
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <minDepth>0.001</minDepth>
- <maxVel>1.0</maxVel>-->
- </gazebo>
- </xacro:macro>
- <xacro:macro name="force_based_move_gazebo_plugin">
- <plugin name="force_based_move_controller" filename="libgazebo_ros_force_based_move.so">
- <commandTopic>/cmd_vel_raw</commandTopic>
- <odometryTopic>odom</odometryTopic>
- <odometryFrame>odom</odometryFrame>
- <odometryRate>20.0</odometryRate>
- <robotBaseFrame>base_link</robotBaseFrame>
- <yaw_velocity_p_gain>500</yaw_velocity_p_gain>
- <x_velocity_p_gain>3000</x_velocity_p_gain>
- <y_velocity_p_gain>3000</y_velocity_p_gain>
- <publishOdometryTf>1</publishOdometryTf>
- </plugin>
- </xacro:macro>
- <xacro:macro name="gazebo_ros_control_plugin">
- <gazebo>
- <!-- Gazebo ros control -->
- <plugin name="gazebo_ros_control_select_joints" filename="libgazebo_ros_control_select_joints.so">
- <robotNamespace>telemax_control</robotNamespace>
- <joints>arm_joint_0 arm_joint_1 arm_joint_2 arm_joint_3 arm_joint_4 arm_joint_5 gripper_joint flipper_front_left_joint flipper_front_right_joint flipper_back_left_joint flipper_back_right_joint</joints>
- </plugin>
- </gazebo>
- </xacro:macro>
- </robot>
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