828 lines
26 KiB
Plaintext
828 lines
26 KiB
Plaintext
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from robots/kobuki_hexagons_kinect.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<!--
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- Base : kobuki
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- Stacks : hexagons
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- 3d Sensor : kinect
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-->
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<robot name="turtlebot" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
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<link name="base_link">
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<visual>
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<geometry>
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<!-- new mesh -->
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<mesh filename="turtlebot/kobuki_description/meshes/main_body.dae"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.001 0 0.05199"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.10938" radius="0.176"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.0 0 0.05949"/>
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</collision>
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<inertial>
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<mass value="2.4"/>
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<!-- 2.4/2.6 kg for small/big battery pack -->
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<origin xyz="0 0 0"/>
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<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
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</inertial>
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</link>
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<joint name="wheel_left_joint" type="continuous">
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<parent link="base_link"/>
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<child link="wheel_left_link"/>
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<origin rpy="-1.57079632679 0 0" xyz="0.00 0.115 0.0250"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="wheel_left_link">
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<visual>
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<geometry>
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<mesh filename="turtlebot/kobuki_description/meshes/wheel.dae"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0206" radius="0.0352"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
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</inertial>
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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</link>
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<joint name="wheel_right_joint" type="continuous">
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<parent link="base_link"/>
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<child link="wheel_right_link"/>
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<origin rpy="-1.57079632679 0 0" xyz="0.00 -0.115 0.0250"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="wheel_right_link">
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<visual>
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<geometry>
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<mesh filename="turtlebot/kobuki_description/meshes/wheel.dae"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.0206" radius="0.0350"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
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</inertial>
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="10000"/>
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</contact>
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</link>
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<joint name="caster_front_joint" type="fixed">
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<parent link="base_link"/>
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<child link="caster_front_link"/>
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<origin rpy="-1.57079632679 0 0" xyz="0.115 0.0 0.007"/>
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</joint>
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<link name="caster_front_link">
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<collision>
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<geometry>
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<cylinder length="0.0176" radius="0.017"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<mass value="0.01"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
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</inertial>
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<contact>
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<lateral_friction value="0.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="10000"/>
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</contact>
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</link>
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<joint name="caster_back_joint" type="fixed">
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<parent link="base_link"/>
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<child link="caster_back_link"/>
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<origin rpy="-1.57079632679 0 0" xyz="-0.135 0.0 0.009"/>
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</joint>
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<link name="caster_back_link">
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<collision>
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<geometry>
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<cylinder length="0.0176" radius="0.017"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<mass value="0.01"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
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</inertial>
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<contact>
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<lateral_friction value="0.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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</link>
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<joint name="gyro_joint" type="fixed">
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<axis xyz="0 1 0"/>
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<origin rpy="0 0 0" xyz="0.056 0.062 0.0202"/>
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<parent link="base_link"/>
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<child link="gyro_link"/>
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</joint>
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<link name="gyro_link">
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<inertial>
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<mass value="0.001"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
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</inertial>
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</link>
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<joint name="cliff_sensor_left_joint" type="fixed">
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<origin rpy="0 1.57079632679 0" xyz="0.08734 0.13601 0.0214"/>
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<parent link="base_link"/>
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<child link="cliff_sensor_left_link"/>
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</joint>
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<link name="cliff_sensor_left_link">
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<inertial>
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<mass value="0.0001"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
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</inertial>
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</link>
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<joint name="cliff_sensor_right_joint" type="fixed">
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<origin rpy="0 1.57079632679 0" xyz="0.085 -0.13601 0.0214"/>
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<parent link="base_link"/>
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<child link="cliff_sensor_right_link"/>
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</joint>
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<link name="cliff_sensor_right_link">
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<inertial>
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<mass value="0.0001"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
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</inertial>
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</link>
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<joint name="cliff_sensor_front_joint" type="fixed">
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<origin rpy="0 1.57079632679 0" xyz="0.156 0.00 0.0214"/>
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<parent link="base_link"/>
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<child link="cliff_sensor_front_link"/>
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</joint>
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<link name="cliff_sensor_front_link">
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<inertial>
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<mass value="0.0001"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
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</inertial>
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</link>
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<gazebo>
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<controller:gazebo_ros_kobuki name="kobuki_controller" plugin="libgazebo_ros_kobuki.so">
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<left_wheel_joint_name>wheel_left_joint</left_wheel_joint_name>
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<right_wheel_joint_name>wheel_right_joint</right_wheel_joint_name>
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<wheel_separation>.230</wheel_separation>
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<wheel_diameter>0.070</wheel_diameter>
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<torque>1.0</torque>
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<velocity_command_timeout>0.6</velocity_command_timeout>
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<cliff_sensor_left_name>cliff_sensor_left</cliff_sensor_left_name>
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<cliff_sensor_front_name>cliff_sensor_front</cliff_sensor_front_name>
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<cliff_sensor_right_name>cliff_sensor_right</cliff_sensor_right_name>
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<cliff_detection_threshold>0.04</cliff_detection_threshold>
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<bumper_name>bumpers</bumper_name>
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<base_collision_model_link>base_link</base_collision_model_link>
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</controller:gazebo_ros_kobuki>
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</gazebo>
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<gazebo reference="wheel_left_link">
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<mu1 value="10"/>
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<mu2 value="10"/>
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<kp value="100000000.0"/>
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<kd value="10000.0"/>
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</gazebo>
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<gazebo reference="wheel_right_link">
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<mu1 value="10"/>
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<mu2 value="10"/>
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<kp value="100000000.0"/>
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<kd value="10000.0"/>
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</gazebo>
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<gazebo reference="caster_front_link">
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<mu1 value="0"/>
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<mu2 value="0"/>
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<kp value="100000000.0"/>
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<kd value="10000.0"/>
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</gazebo>
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<gazebo reference="caster_back_link">
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<mu1 value="0"/>
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<mu2 value="0"/>
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<kp value="100000000.0"/>
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<kd value="10000.0"/>
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</gazebo>
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<gazebo reference="base_link">
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<sensor:contact name="bumpers">
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<geom>base_footprint_geom_base_link</geom>
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<topic>bumpers</topic>
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<alwaysOn>true</alwaysOn>
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<updateRate>50</updateRate>
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</sensor:contact>
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</gazebo>
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<gazebo reference="cliff_sensor_left_link">
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<sensor:ray name="cliff_sensor_left">
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<alwaysOn>true</alwaysOn>
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<updateRate>50</updateRate>
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<rayCount>50</rayCount>
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<rangeCount>1</rangeCount>
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<resRange>1.0</resRange>
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<minAngle>-0.04361</minAngle>
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<maxAngle>0.04361</maxAngle>
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<minRange>0.01</minRange>
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<maxRange>0.15</maxRange>
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<displayRays>true</displayRays>
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</sensor:ray>
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</gazebo>
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<gazebo reference="cliff_sensor_right_link">
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<sensor:ray name="cliff_sensor_right">
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<alwaysOn>true</alwaysOn>
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<updateRate>50</updateRate>
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<rayCount>50</rayCount>
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<rangeCount>1</rangeCount>
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||
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<resRange>1.0</resRange>
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||
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<minAngle>-2.5</minAngle>
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<maxAngle>2.5</maxAngle>
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||
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<minRange>0.01</minRange>
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<maxRange>0.15</maxRange>
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<displayRays>true</displayRays>
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</sensor:ray>
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||
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</gazebo>
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||
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<gazebo reference="cliff_sensor_front_link">
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<sensor:ray name="cliff_sensor_front">
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||
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<alwaysOn>true</alwaysOn>
|
||
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<updateRate>50</updateRate>
|
||
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<rayCount>50</rayCount>
|
||
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<rangeCount>1</rangeCount>
|
||
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<resRange>1.0</resRange>
|
||
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<minAngle>-2.5</minAngle>
|
||
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<maxAngle>2.5</maxAngle>
|
||
|
|
<minRange>0.01</minRange>
|
||
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<maxRange>0.15</maxRange>
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||
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<displayRays>true</displayRays>
|
||
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</sensor:ray>
|
||
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</gazebo>
|
||
|
|
<gazebo>
|
||
|
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<controller:gazebo_ros_imu name="imu_controller" plugin="libgazebo_ros_imu.so">
|
||
|
|
<alwaysOn>true</alwaysOn>
|
||
|
|
<updateRate>50</updateRate>
|
||
|
|
<bodyName>gyro_link</bodyName>
|
||
|
|
<topicName>/mobile_base/sensors/imu_data</topicName>
|
||
|
|
<gaussianNoise>2.89e-06</gaussianNoise>
|
||
|
|
<xyzOffsets>0 0 0</xyzOffsets>
|
||
|
|
<rpyOffsets>0 0 0</rpyOffsets>
|
||
|
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<interface:position name="gyro_link"/>
|
||
|
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</controller:gazebo_ros_imu>
|
||
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</gazebo>
|
||
|
|
<joint name="pole_bottom_0_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0.12 0.082 0.1028"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_bottom_0_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_bottom_0_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.0492" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_bottom_1_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0.055 0.12 0.1028"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_bottom_1_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_bottom_1_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.0492" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_bottom_2_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.055 0.12 0.1028"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_bottom_2_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_bottom_2_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.0492" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_bottom_3_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0.12 -0.082 0.1028"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_bottom_3_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_bottom_3_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.0492" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_bottom_4_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0.055 -0.12 0.1028"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_bottom_4_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_bottom_4_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.0492" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_bottom_5_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.055 -0.12 0.1028"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_bottom_5_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_bottom_5_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.0492" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="plate_bottom_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0.02364 0.0 0.1306"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="plate_bottom_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="plate_bottom_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.26727 0.340 0.006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.01"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_middle_0_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0.0381 0.1505 0.164"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_middle_0_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_middle_0_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.0608" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_middle_1_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0.0381 -0.1505 0.164"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_middle_1_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_middle_1_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.0608" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_middle_2_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.0381 0.1505 0.164"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_middle_2_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_middle_2_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.0608" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_middle_3_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.0381 -0.1505 0.164"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_middle_3_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_middle_3_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.0608" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="plate_middle_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.01364 0.0 0.1874"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="plate_middle_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="plate_middle_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.28727 0.340 0.006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.01"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_top_0_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0.0381 0.1505 0.292"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_top_0_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_top_0_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz=" 0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.2032" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_top_1_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0.0381 -0.1505 0.292"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_top_1_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_top_1_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz=" 0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.2032" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_top_2_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.0381 0.1505 0.292"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_top_2_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_top_2_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz=" 0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.2032" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_top_3_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.0381 -0.1505 0.292"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_top_3_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_top_3_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz=" 0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.2032" radius=".006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_kinect_0_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.1024 0.098 0.2372"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_kinect_0_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_kinect_0_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<!-- <origin xyz="0 0 0" rpy="${-M_PI/2} ${M_PI} 0"/> -->
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.0936" radius="0.006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="pole_kinect_1_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.1024 -0.098 0.2372"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="pole_kinect_1_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="pole_kinect_1_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<!-- <origin xyz="0 0 0" rpy="${-M_PI/2} ${M_PI} 0"/> -->
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.0936" radius="0.006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="plate_top_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.01364 0.0 0.3966"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="plate_top_link"/>
|
||
|
|
</joint>
|
||
|
|
<link name="plate_top_link">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.28727 0.340 0.006"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.01"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="camera_rgb_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.087 -0.0125 0.287"/>
|
||
|
|
<parent link="base_link"/>
|
||
|
|
<child link="camera_rgb_frame"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_rgb_frame">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="camera_rgb_optical_joint" type="fixed">
|
||
|
|
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
|
||
|
|
<parent link="camera_rgb_frame"/>
|
||
|
|
<child link="camera_rgb_optical_frame"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_rgb_optical_frame">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="camera_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.031 0.0125 -0.016"/>
|
||
|
|
<parent link="camera_rgb_frame"/>
|
||
|
|
<child link="eyes"/>
|
||
|
|
</joint>
|
||
|
|
<link name="eyes">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="turtlebot/turtlebot_description/meshes/sensors/kinect.dae"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.0315 0.0 -0.017"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.07271 0.27794 0.073"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="camera_depth_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.025 0"/>
|
||
|
|
<parent link="camera_rgb_frame"/>
|
||
|
|
<child link="camera_depth_frame"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_depth_frame">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="camera_depth_optical_joint" type="fixed">
|
||
|
|
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
|
||
|
|
<parent link="camera_depth_frame"/>
|
||
|
|
<child link="camera_depth_optical_frame"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_depth_optical_frame">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
</robot>
|