42 lines
1.3 KiB
XML
42 lines
1.3 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<gazebo reference="base_link">
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<material>Gazebo/Blue</material>
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</gazebo>
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<gazebo reference="right_wheel_link">
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<material>Gazebo/Grey</material>
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</gazebo>
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<gazebo reference="left_wheel_link">
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<material>Gazebo/Grey</material>
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</gazebo>
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<gazebo reference="caster_wheel_link">
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<material>Gazebo/Grey</material>
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<mu1 value="0.1" />
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<mu2 value="0.1" />
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</gazebo>
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<gazebo>
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<plugin name="diff_drive_controller" filename="libgazebo_ros_diff_drive.so">
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<!-- Update rate in Hz -->
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<update_rate>50</update_rate>
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<!-- wheels -->
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<left_joint>base_left_wheel_joint</left_joint>
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<right_joint>base_right_wheel_joint</right_joint>
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<!-- kinematics -->
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<wheel_separation>0.45</wheel_separation>
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<wheel_diameter>0.2</wheel_diameter>
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<!-- output -->
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<publish_odom>true</publish_odom>
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<publish_odom_tf>true</publish_odom_tf>
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<publish_wheel_tf>true</publish_wheel_tf>
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<odometry_topic>odom</odometry_topic>
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<odometry_frame>odom</odometry_frame>
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<robot_base_frame>base_footprint</robot_base_frame>
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</plugin>
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</gazebo>
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</robot> |