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range.urdf
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<?xml version="1.0" ?>
<robot name="range">
<material name="red">
<color rgba="1.0 0 0 1"/>
</material>
<material name="blue">
<color rgba="0.0 0 1.0 1"/>
</material>
<material name="green">
<color rgba="0.0 1.0 0.0 1"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1"/>
</material>
<link name="base_link">
</link>
<link name="chassis">
<visual>
<geometry>
<box size="0.6 0.6 0.2"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<geometry>
<box size="0.6 6.6 0.2"/>
</geometry>
</collision>
<inertial>
<mass value="5.0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.16666666666666666" ixy="0.0" ixz="0.0" iyy="0.16666666666666666" iyz="0.0" izz="0.3"/>
</inertial>
</link>
<gazebo reference="chassis">
<material>Gazebo/Blue</material>
</gazebo>
<joint name="base_link_joint" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<parent link="base_link"/>
<child link="chassis"/>
</joint>
<link name="front_right_wheel">
<visual>
<origin rpy="0.0 1.5707 1.5707" xyz="0.0 0.0 0.0"/>
<geometry>
<cylinder length="0.02" radius="0.15" />
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0.0 1.5707 1.5707" xyz="0.0 0.0 0.0"/>
<geometry>
<cylinder length="0.02" radius="0.15" />
</geometry>
</collision>
<inertial>
<mass value="2.0"/>
<origin rpy="0.0 1.5707 1.5707" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.011316666666666664" ixy="0.0" ixz="0.0" iyy="0.011316666666666664" iyz="0.0" izz="0.0225"/>
</inertial>
</link>
<gazebo reference="front_right_wheel">
<kp>100000.0</kp>
<kd>0.1</kd>
<mu1>0.1</mu1>
<mu2>0.1</mu2>
<material>Gazebo/Green</material>
</gazebo>
<joint name="front_right_wheel_joint" type="continuous">
<origin rpy="0.0 0.0 0.0" xyz="0.3 -0.3 -0.10"/>
<parent link="chassis"/>
<child link="front_right_wheel"/>
<axis xyz="0 1 0"/>
<limit effort="10000" velocity="1000"/>
<joint_properties damping="1.0" friction="1.0"/>
</joint>
<link name="front_left_wheel">
<visual>
<origin rpy="0.0 1.5707 1.5707" xyz="0.0 0.0 0.0"/>
<geometry>
<cylinder length="0.02" radius="0.15" />
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0.0 1.5707 1.5707" xyz="0.0 0.0 0.0"/>
<geometry>
<cylinder length="0.02" radius="0.15" />
</geometry>
</collision>
<inertial>
<mass value="2.0"/>
<origin rpy="0.0 1.5707 1.5707" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.011316666666666664" ixy="0.0" ixz="0.0" iyy="0.011316666666666664" iyz="0.0" izz="0.0225"/>
</inertial>
</link>
<gazebo reference="front_left_wheel">
<kp>100000.0</kp>
<kd>0.1</kd>
<mu1>0.1</mu1>
<mu2>0.1</mu2>
<material>Gazebo/Green</material>
</gazebo>
<joint name="front_left_wheel_joint" type="continuous">
<origin rpy="0.0 0.0 0.0" xyz="0.3 0.3 -0.10"/>
<parent link="chassis"/>
<child link="front_left_wheel"/>
<axis xyz="0 1 0"/>
<limit effort="10000" velocity="1000"/>
<joint_properties damping="1.0" friction="1.0"/>
</joint>
<link name="back_right_wheel">
<visual>
<origin rpy="0.0 1.5707 1.5707" xyz="0.0 0.0 0.0"/>
<geometry>
<cylinder length="0.02" radius="0.15" />
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0.0 1.5707 1.5707" xyz="0.0 0.0 0.0"/>
<geometry>
<cylinder length="0.02" radius="0.15" />
</geometry>
</collision>
<inertial>
<mass value="2.0"/>
<origin rpy="0.0 1.5707 1.5707" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.011316666666666664" ixy="0.0" ixz="0.0" iyy="0.011316666666666664" iyz="0.0" izz="0.0225"/>
</inertial>
</link>
<gazebo reference="back_right_wheel">
<kp>100000.0</kp>
<kd>0.1</kd>
<mu1>0.1</mu1>
<mu2>0.1</mu2>
<material>Gazebo/Yellow</material>
</gazebo>
<joint name="back_right_wheel_joint" type="continuous">
<origin rpy="0.0 0.0 0.0" xyz="-0.3 -0.3 -0.10"/>
<parent link="chassis"/>
<child link="back_right_wheel"/>
<axis xyz="0 1 0"/>
<limit effort="10000" velocity="1000"/>
<joint_properties damping="1.0" friction="1.0"/>
</joint>
<link name="back_left_wheel">
<visual>
<origin rpy="0.0 1.5707 1.5707" xyz="0.0 0.0 0.0"/>
<geometry>
<cylinder length="0.02" radius="0.15" />
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0.0 1.5707 1.5707" xyz="0.0 0.0 0.0"/>
<geometry>
<cylinder length="0.02" radius="0.15" />
</geometry>
</collision>
<inertial>
<mass value="2.0"/>
<origin rpy="0.0 1.5707 1.5707" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.011316666666666664" ixy="0.0" ixz="0.0" iyy="0.011316666666666664" iyz="0.0" izz="0.0225"/>
</inertial>
</link>
<gazebo reference="back_left_wheel">
<kp>100000.0</kp>
<kd>0.1</kd>
<mu1>0.1</mu1>
<mu2>0.1</mu2>
<material>Gazebo/Yellow</material>
</gazebo>
<joint name="back_left_wheel_joint" type="continuous">
<origin rpy="0.0 0.0 0.0" xyz="-0.3 0.3 -0.10"/>
<parent link="chassis"/>
<child link="back_left_wheel"/>
<axis xyz="0 1 0"/>
<limit effort="10000" velocity="1000"/>
<joint_properties damping="1.0" friction="1.0"/>
</joint>
<gazebo>
<plugin name="range_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
<ros>
<remapping>~/out:joint_states</remapping>
</ros>
<update_rate>30</update_rate>
<joint_name>front_right_wheel_joint</joint_name>
<joint_name>front_left_wheel_joint</joint_name>
<joint_name>back_right_wheel_joint</joint_name>
<joint_name>back_left_wheel_joint</joint_name>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
<!-- wheels -->
<left_joint>front_left_wheel_joint</left_joint>
<right_joint>front_right_wheel_joint</right_joint>
<!-- kinematics -->
<wheel_separation>0.6</wheel_separation>
<wheel_diameter>0.3</wheel_diameter>
<!-- limits -->
<max_wheel_torque>10.0</max_wheel_torque>
<max_wheel_acceleration>20.0</max_wheel_acceleration>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
</gazebo>
</robot>