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model.sdf 12.01 KiB 
<?xml version='1.0'?>
<sdf version='1.6'>
  <model name='follower_vehicle'>
    <pose frame=''>0 0 0.325 0 -0 0</pose>
    <link name='chassis'>
      <pose frame=''>-0.151427 -0 0.175 0 -0 0</pose>
      <inertial>
        <mass>1.14395</mass>
        <inertia>
          <ixx>0.126164</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.416519</iyy>
          <iyz>0</iyz>
          <izz>0.481014</izz>
        </inertia>
        <pose frame=''>0 0 0 0 -0 0</pose>
      </inertial>
      <self_collide>0</self_collide>
      <visual name='visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>2.01142 1 0.568726</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <collision name='collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>2.01142 1 0.568726</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
    </link>
    <link name='wheel_1'>
      <pose frame=''>0.554283 0.625029 -0.025 1.5707 0 0</pose>
      <inertial>
        <mass>2</mass>
        <inertia>
          <ixx>0.145833</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.145833</iyy>
          <iyz>0</iyz>
          <izz>0.125</izz>
        </inertia>
        <pose frame=''>0 0 0 0 -0 0</pose>
      </inertial>
      <self_collide>0</self_collide>
      <visual name='visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.3</radius>
            <length>0.25</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <collision name='collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.3</radius>
            <length>0.25</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
    </link>
    <link name='wheel_2'>
      <pose frame=''>0.554282 -0.625029 -0.025 1.5707 0 0</pose>
      <inertial>
        <mass>2</mass>
        <inertia>
          <ixx>0.145833</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.145833</iyy>
          <iyz>0</iyz>
          <izz>0.125</izz>
        </inertia>
        <pose frame=''>0 0 0 0 -0 0</pose>
      </inertial>
      <self_collide>0</self_collide>
      <visual name='visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.3</radius>
            <length>0.25</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <collision name='collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.3</radius>
            <length>0.25</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
    </link>
    <link name='caster'>
      <pose frame=''>-0.957138 -0 -0.125 0 -0 0</pose>
      <inertial>
        <mass>1</mass>
        <inertia>
          <ixx>0.1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.1</iyy>
          <iyz>0</iyz>
          <izz>0.1</izz>
        </inertia>
        <pose frame=''>0 0 0 0 -0 0</pose>
      </inertial>
      <self_collide>0</self_collide>
      <visual name='visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <collision name='collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
    </link>
    <model name='depth_camera'>
      <link name='link'>
        <pose frame=''>0.05 0.05 0.05 0 -0 0</pose>
        <inertial>
          <mass>0.1</mass>
          <inertia>
            <ixx>0.000166667</ixx>
            <iyy>0.000166667</iyy>
            <izz>0.000166667</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='camera' type='depth'>
          <camera name='depth'>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
              <width>320</width>
              <height>240</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>30</update_rate>
          <visualize>1</visualize>
        </sensor>
      </link>
      <pose frame=''>0.569632 -0.03223 0.502056 0 -0 0</pose>
    </model>
    <joint name='chassis_wheel_1_revolute' type='revolute'>
      <parent>chassis</parent>
      <child>wheel_1</child>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
        <use_parent_model_frame>0</use_parent_model_frame>
        <limit>
          <lower>-1.79769e+308</lower>
          <upper>1.79769e+308</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
          <friction>0</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='chassis_wheel_2_revolute' type='revolute'>
      <parent>chassis</parent>
      <child>wheel_2</child>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
        <use_parent_model_frame>0</use_parent_model_frame>
        <limit>
          <lower>-1.79769e+308</lower>
          <upper>1.79769e+308</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
          <friction>0</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='chassis_caster_ball' type='ball'>
      <parent>chassis</parent>
      <child>caster</child>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='chassis_depth_camera_link_fixed' type='fixed'>
      <parent>chassis</parent>
      <child>depth_camera::link</child>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <static>0</static>
    <allow_auto_disable>1</allow_auto_disable>
    <plugin name='follower' filename='libFollowerPlugin.so'/>
  </model>
</sdf>