scuttle.gazebo

<?xml version="1.0" ?>
<robot name="scuttle" xmlns:xacro="http://www.ros.org/wiki/xacro" >

<xacro:property name="body_color" value="Gazebo/Silver" />
<xacro:property name="wheel_color" value="Gazebo/Blue" />
<xacro:property name="lidar_color" value="Gazebo/Gray" />

<xacro:arg name="differential_drive_command_topic" default="cmd_vel"/>
<xacro:arg name="differential_drive_odometry_topic" default="odom"/>
<xacro:arg name="differential_drive_odometry_frame" default="odom"/>

<gazebo>
  <plugin filename="libgazebo_ros_control.so" name="control"/>
</gazebo>
<gazebo reference="base_link">
  <material>${body_color}</material>
  <mu1>0.2</mu1>
  <mu2>0.2</mu2>
  <selfCollide>true</selfCollide>
  <gravity>true</gravity>
</gazebo>

<gazebo reference="l_wheel_1">
  <material>${wheel_color}</material>
  <mu1>0.9</mu1>
  <mu2>0.9</mu2>
  <selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="r_wheel_1">
  <material>${wheel_color}</material>
  <mu1>0.9</mu1>
  <mu2>0.9</mu2>
  <selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="lidar_1">
  <material>${lidar_color}</material>
  <mu1>0.2</mu1>
  <mu2>0.2</mu2>
  <selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="r_caster_swivel_1">
  <material>${body_color}</material>
  <mu1>0.2</mu1>
  <mu2>0.2</mu2>
  <selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="l_caster_swivel_1">
  <material>${body_color}</material>
  <mu1>0.2</mu1>
  <mu2>0.2</mu2>
  <selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="l_caster_wheel_1">
  <material>${wheel_color}</material>
  <mu1>0.4</mu1>
  <mu2>0.4</mu2>
  <selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="r_caster_wheel_1">
  <material>${wheel_color}</material>
  <mu1>0.4</mu1>
  <mu2>0.4</mu2>
  <selfCollide>true</selfCollide>
</gazebo>

<gazebo>
  <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">

    <!-- Plugin update rate in Hz -->
    <updateRate>50</updateRate>

    <!-- Name of left joint, defaults to `left_joint` -->
    <leftJoint>l_wheel_joint</leftJoint>

    <!-- Name of right joint, defaults to `right_joint` -->
    <rightJoint>r_wheel_joint</rightJoint>

    <!-- The distance from the center of one wheel to the other, in meters, defaults to 0.34 m -->
    <wheelSeparation>0.355</wheelSeparation>

    <!-- Diameter of the wheels, in meters, defaults to 0.15 m -->
    <wheelDiameter>0.0833</wheelDiameter>

    <!-- Wheel acceleration, in rad/s^2, defaults to 0.0 rad/s^2 -->
    <wheelAcceleration>2.7</wheelAcceleration>

    <!-- Maximum torque which the wheels can produce, in Nm, defaults to 5 Nm -->
    <wheelTorque>0.392</wheelTorque>

    <!-- Topic to receive geometry_msgs/Twist message commands, defaults to `cmd_vel` -->
    <commandTopic>$(arg differential_drive_command_topic)</commandTopic>

    <!-- Topic to publish nav_msgs/Odometry messages, defaults to `odom` -->
    <odometryTopic>$(arg differential_drive_odometry_topic)</odometryTopic>

    <!-- Odometry frame, defaults to `odom` -->
    <odometryFrame>$(arg differential_drive_odometry_frame)</odometryFrame>

    <!-- Robot frame to calculate odometry from, defaults to `base_footprint` -->
    <robotBaseFrame>base_link</robotBaseFrame>

    <!-- Odometry source, 0 for ENCODER, 1 for WORLD, defaults to WORLD -->
    <odometrySource>1</odometrySource>

    <!-- Set to true to publish transforms for the wheel links, defaults to false -->
    <publishWheelTF>false</publishWheelTF>

    <!-- Set to true to publish transforms for the odometry, defaults to true -->
    <publishOdom>true</publishOdom>

    <!-- Set to true to publish sensor_msgs/JointState on /joint_states for the wheel joints, defaults to false -->
    <publishWheelJointState>false</publishWheelJointState>

    <!-- Set to true to swap right and left wheels, defaults to true -->
    <legacyMode>false</legacyMode>
  </plugin>
</gazebo>

 <gazebo reference="lidar_1">
    <sensor type="ray" name="rplidar_a1">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>5.5</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>360</samples>
            <resolution>1</resolution>
            <min_angle>0</min_angle>
            <max_angle>6.283185307179586</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.15</min>
          <max>12.0</max>
          <resolution>0.005</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <!-- Noise parameters based on published spec for Hokuyo laser
               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
               stddev of 0.01m will put 99.7% of samples within 0.03m of the true
               reading. -->
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
        <topicName>/scan</topicName>
        <frameName>lidar_1</frameName>
      </plugin>
    </sensor>
  </gazebo>
</robot>