Ailibot2仿真入门教程-加载Ailibot2的SDF模型到gazebo
文章说明
- 本教程主要介绍如何加载Ailibot2的SDF模型到gazebo
操作步骤
- 启动gazebo仿真，加载Ailibot2的SDF模型
$ ros2 launch ailibot2_bringup robot_sim_with_sdf.launch.py use_rviz:=true
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-09-07-12-05-31-122302-ailibotOS-VM-8978
[INFO] [launch]: Default logging verbosity is set to INFO
GAZEBO_MODEL_PATH: /usr/share/gazebo-11/models::/home/ubuntu/ros2_ailibot2_sim_ws/install/ailibot2_description/share/ailibot2_description/meshes
[INFO] [robot_state_publisher-1]: process started with pid [8981]
[INFO] [gzserver-2]: process started with pid [8983]
[INFO] [gzclient -3]: process started with pid [8985]
[INFO] [spawn_entity.py-4]: process started with pid [8988]
[robot_state_publisher-1] Link base_link had 8 children
[robot_state_publisher-1] Link camera_bottom_screw_frame had 1 children
[robot_state_publisher-1] Link camera_link had 1 children
[robot_state_publisher-1] Link camera_depth_frame had 4 children
[robot_state_publisher-1] Link camera_color_frame had 1 children
[robot_state_publisher-1] Link camera_color_optical_frame had 0 children
[robot_state_publisher-1] Link camera_depth_optical_frame had 0 children
[robot_state_publisher-1] Link camera_left_ir_frame had 1 children
[robot_state_publisher-1] Link camera_left_ir_optical_frame had 0 children
[robot_state_publisher-1] Link camera_right_ir_frame had 1 children
[robot_state_publisher-1] Link camera_right_ir_optical_frame had 0 children
[robot_state_publisher-1] Link caster_back_link had 0 children
[robot_state_publisher-1] Link caster_front_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link laser_link had 0 children
[robot_state_publisher-1] Link sonar_front_link had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] [INFO] [1694059532.660441133] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1694059532.660568092] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1694059532.660581127] [robot_state_publisher]: got segment camera_bottom_screw_frame
[robot_state_publisher-1] [INFO] [1694059532.660586826] [robot_state_publisher]: got segment camera_color_frame
[robot_state_publisher-1] [INFO] [1694059532.660591711] [robot_state_publisher]: got segment camera_color_optical_frame
[robot_state_publisher-1] [INFO] [1694059532.660610149] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-1] [INFO] [1694059532.660617151] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-1] [INFO] [1694059532.660621725] [robot_state_publisher]: got segment camera_left_ir_frame
[robot_state_publisher-1] [INFO] [1694059532.660626340] [robot_state_publisher]: got segment camera_left_ir_optical_frame
[robot_state_publisher-1] [INFO] [1694059532.660630679] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1694059532.660635211] [robot_state_publisher]: got segment camera_right_ir_frame
[robot_state_publisher-1] [INFO] [1694059532.660639759] [robot_state_publisher]: got segment camera_right_ir_optical_frame
[robot_state_publisher-1] [INFO] [1694059532.660644230] [robot_state_publisher]: got segment caster_back_link
[robot_state_publisher-1] [INFO] [1694059532.660648655] [robot_state_publisher]: got segment caster_front_link
[robot_state_publisher-1] [INFO] [1694059532.660652978] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1694059532.660657278] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1694059532.660661839] [robot_state_publisher]: got segment sonar_front_link
[robot_state_publisher-1] [INFO] [1694059532.660666095] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-1] [INFO] [1694059532.660670503] [robot_state_publisher]: got segment wheel_right_link
[spawn_entity.py-4] [INFO] [1694059533.453061905] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1694059533.453582284] [spawn_entity]: Loading entity XML from file /home/ubuntu/ros2_ailibot2_sim_ws/install/ailibot2_gazebo/share/ailibot2_gazebo/models/ailibot2/d2/ailibot_d2.sdf
[spawn_entity.py-4] [INFO] [1694059533.466719430] [spawn_entity]: Waiting for service /spawn_entity, timeout = 5
[spawn_entity.py-4] [INFO] [1694059533.467070718] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1694059535.376824884] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-4] [INFO] [1694059536.590096599] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [ailibot2]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 8988]
[gzserver-2] [INFO] [1694059537.684684673] [GazeboRealsenseNode]: Realsense Gazebo ROS plugin loading.
[gzserver-2]
[gzserver-2] RealSensePlugin: The realsense_camera plugin is attach to model ailibot2
[gzserver-2] [INFO] [1694059538.412087799] [GazeboRealsenseNode]: Loaded Realsense Gazebo ROS plugin.
[gzserver-2] [INFO] [1694059538.537634923] [diff_drive]: Wheel pair 1 separation set to [0.325140m]
[gzserver-2] [INFO] [1694059538.537767828] [diff_drive]: Wheel pair 1 diameter set to [0.115000m]
[gzserver-2] [INFO] [1694059538.539091745] [diff_drive]: Subscribed to [/cmd_vel]
[gzserver-2] [INFO] [1694059538.572421130] [diff_drive]: Advertise odometry on [/odom]
[gzserver-2] [INFO] [1694059538.610411054] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gzserver-2] [INFO] [1694059538.678657658] [joint_state]: Going to publish joint [wheel_left_joint]
[gzserver-2] [INFO] [1694059538.678744839] [joint_state]: Going to publish joint [wheel_right_joint]
[gzclient -3] context mismatch in svga_surface_destroy
[gzclient -3] context mismatch in svga_surface_destroy
- 可选参数：
- 场景类型：
world_type:=basic - robot类型：
robot_type:=d2，可选择d2/d4/o3/o4/m4 - 模型类型：
model_type:=d2，可选择d2或d2_ekf等
- 场景类型：
- 查看话题
$ ros2 topic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/infra1/camera_info
/camera/infra1/image_raw
/camera/infra1/image_raw/compressed
/camera/infra2/camera_info
/camera/infra2/image_raw
/camera/infra2/image_raw/compressed
/clock
/cmd_vel
/imu/data
/joint_states
/odom
/parameter_events
/performance_metrics
/robot_description
/rosout
/scan
/sensor/sonar_front
/tf
/tf_static
- 当前展示ailibot2-d2SDF模型的具体代码
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="ailibot_d2">
<static>false</static>
<!-- ****************** ROBOT BASE FOOTPRINT *************************** -->
<pose>0.0 0.0 0 0.0 0.0 0.0</pose>
<link name="base_footprint"/>
<!-- ********************** ROBOT BASE ********************************* -->
<link name="base_link">
<collision name="base_collision">
<pose>0 0 0.0448 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.12657</radius>
<length>0.09</length>
</cylinder>
</geometry>
</collision>
<visual name="base_visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://d2/d2_base.STL</uri>
</mesh>
</geometry>
<material>
<ambient>1.0 0.0 0.0 1.0</ambient>
<diffuse>1.0 0.0 0.0 1.0</diffuse>
<specular>0.0 0.0 0.0 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
</link>
<!-- *********************** IMU SENSOR SETUP ************************** -->
<link name="imu_link">
<gravity>true</gravity>
<sensor name="twr_imu" type="imu">
<always_on>true</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<imu>
<orientation>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-3</stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-3</stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-3</stddev>
</noise>
</z>
</orientation>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
</noise>
</z>
</linear_acceleration>
</imu>
<plugin name="imu" filename="libgazebo_ros_imu_sensor.so">
<initial_orientation_as_reference>false</initial_orientation_as_reference>
<frame_name>imu_link</frame_name>
<ros>
<namespace>/imu</namespace>
<remapping>~/out:=data</remapping>
</ros>
</plugin>
</sensor>
</link>
<!-- ****************************** LIDAR ***************************** -->
<link name="laser_link">
<inertial>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
<ixz>0.000</ixz>
<iyy>0.001</iyy>
<iyz>0.000</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.114</mass>
</inertial>
<collision name="laser_collision">
<pose>0 0 0.1685 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.035</radius>
<length>0.058</length>
</cylinder>
</geometry>
</collision>
<visual name="laser_visual">
<pose>0 0 0.185 0 0 0</pose>
<geometry>
<mesh>
<uri>model://sensors/laser/rplidar-a1.STL</uri>
</mesh>
</geometry>
<material>
<ambient>0.0 0.0 0.0 1.0</ambient>
<diffuse>0.0 0.0 0.0 1.0</diffuse>
<specular>0.0 0.0 0.0 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
<sensor name="laser" type="ray">
<always_on>true</always_on>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1.000000</resolution>
<min_angle>-3.14159</min_angle>
<max_angle>3.14159</max_angle>
</horizontal>
</scan>
<range>
<min>0.3</min>
<max>15.0</max>
<resolution>0.015</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="scan" filename="libgazebo_ros_ray_sensor.so">
<ros>
<remapping>~/out:=scan</remapping>
</ros>
<output_type>sensor_msgs/LaserScan</output_type>
<frame_name>laser_link</frame_name>
</plugin>
</sensor>
</link>
<!-- ****************************** CAMERA ***************************** -->
<link name="camera_link">
<pose>0.0929 0 0.1325 0 0 0</pose>
<visual name="realsense_link_visual">
<pose>0 0 0 1.57 0 1.57</pose>
<geometry>
<mesh>
<uri>model://sensors/camera/realsense_d435.stl</uri>
</mesh>
</geometry>
</visual>
<collision name="realsense_link_collision">
<pose>-0.0149 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.03 0.090 0.025</size>
</box>
</geometry>
</collision>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
<ixz>0.000</ixz>
<iyy>0.001</iyy>
<iyz>0.000</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.1</mass>
</inertial>
<sensor name="cameradepth" type="depth">
<camera name="camera">
<horizontal_fov>1.57</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.100</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
<sensor name="cameracolor" type="camera">
<camera name="camera">
<horizontal_fov>1.57</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>RGB_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
<sensor name="cameraired1" type="camera">
<camera name="camera">
<horizontal_fov>1.57</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.05</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>1</update_rate>
<visualize>0</visualize>
</sensor>
<sensor name="cameraired2" type="camera">
<camera name="camera">
<horizontal_fov>1.57</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.05</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>1</update_rate>
<visualize>0</visualize>
</sensor>
</link>
<joint name="camera_joint" type="fixed">
<parent>base_link</parent>
<child>camera_link</child>
<pose>0 0 0 0 0 0</pose>
</joint>
<plugin name="camera" filename="librealsense_gazebo_plugin.so">
<prefix>camera</prefix>
<depthUpdateRate>30.0</depthUpdateRate>
<colorUpdateRate>30.0</colorUpdateRate>
<infraredUpdateRate>1.0</infraredUpdateRate>
<depthTopicName>/camera/depth/image_rect_raw</depthTopicName>
<depthCameraInfoTopicName>/camera/depth/camera_info</depthCameraInfoTopicName>
<colorTopicName>/camera/color/image_raw</colorTopicName>
<colorCameraInfoTopicName>/camera/color/camera_info</colorCameraInfoTopicName>
<infrared1TopicName>/camera/infra1/image_raw</infrared1TopicName>
<infrared1CameraInfoTopicName>/camera/infra1/camera_info</infrared1CameraInfoTopicName>
<infrared2TopicName>/camera/infra2/image_raw</infrared2TopicName>
<infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
<colorOpticalframeName>camera_color_optical_frame</colorOpticalframeName>
<depthOpticalframeName>camera_depth_optical_frame</depthOpticalframeName>
<infrared1OpticalframeName>camera_left_ir_optical_frame</infrared1OpticalframeName>
<infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName>
<rangeMinDepth>0.3</rangeMinDepth>
<rangeMaxDepth>3.0</rangeMaxDepth>
<pointCloud>true</pointCloud>
<pointCloudTopicName>/camera/depth/color/points</pointCloudTopicName>
<pointCloudCutoff>0.3</pointCloudCutoff>
</plugin>
<!-- ****************************** SONAR_FRONT ***************************** -->
<link name="sonar_front_link">
<pose>0 0 0 0 0 0</pose>
<visual name="sonar_front_visual">
<pose>0.11297 0 0.045 0 0 0</pose>
<geometry>
<mesh>
<uri>model://sensors/sonar/sonar.STL</uri>
</mesh>
</geometry>
</visual>
<collision name="sonar_front_collision">
<pose>0.11297 0 0.045 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</collision>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
<ixz>0.000</ixz>
<iyy>0.001</iyy>
<iyz>0.000</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.1</mass>
</inertial>
<sensor name="sonar_front" type="ray">
<pose>0.11297 -0.013 0.045 0 0 0</pose>
<always_on>true</always_on>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>5</samples>
<resolution>1.000000</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</horizontal>
<vertical>
<samples>5</samples>
<resolution>1.000000</resolution>
<min_angle>-0.01</min_angle>
<max_angle>0.01</max_angle>
</vertical>
</scan>
<range>
<min>0.02</min>
<max>4</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="sonar_front" filename="libgazebo_ros_ray_sensor.so">
<ros>
<namespace>sensor</namespace>
<remapping>~/out:=sonar_front</remapping>
</ros>
<output_type>sensor_msgs/Range</output_type>
<radiation_type>ultrasound</radiation_type>
<frame_name>sonar_front</frame_name>
</plugin>
</sensor>
</link>
<!-- *********************** DRIVE WHEELS ****************************** -->
<link name="wheel_left_link">
<pose>0 0.16257 0.0177 0 0 0</pose>
<inertial>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
<ixz>0.000</ixz>
<iyy>0.001</iyy>
<iyz>0.000</iyz>
<izz>0.001</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="wheel_left_collision">
<pose>0 0 0 1.57 1.57 0</pose>
<geometry>
<cylinder>
<radius>0.0575</radius>
<length>0.055</length>
</cylinder>
</geometry>
</collision>
<visual name="wheel_left_visual">
<geometry>
<mesh>
<uri>model://d2/wheel_left.STL</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="wheel_right_link">
<pose>0 -0.16257 0.0177 0 0 0</pose>
<inertial>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
<ixz>0.000</ixz>
<iyy>0.001</iyy>
<iyz>0.000</iyz>
<izz>0.001</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="wheel_right_collision">
<pose>0 0 0 1.57 1.57 0</pose>
<geometry>
<cylinder>
<radius>0.0575</radius>
<length>0.055</length>
</cylinder>
</geometry>
</collision>
<visual name="wheel_right_visual">
<geometry>
<mesh>
<uri>model://d2/wheel_right.STL</uri>
</mesh>
</geometry>
</visual>
</link>
<!-- *********************** CASTER WHEEL ****************************** -->
<link name='caster_front_link'>
<pose>0.111999999999997 0 -0.027302434610445 0 0 0</pose>
<inertial>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
<ixz>0.000</ixz>
<iyy>0.001</iyy>
<iyz>0.000</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.2</mass>
</inertial>
<collision name='caster_front_collision'>
<geometry>
<sphere>
<radius>0.012</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.01</mu>
<mu2>0.01</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="caster_front_visual">
<geometry>
<mesh>
<uri>model://d2/caster_front.STL</uri>
</mesh>
</geometry>
</visual>
</link>
<link name='caster_back_link'>
<pose>-0.111999999999997 0 -0.027302434610445 0 0 0</pose>
<inertial>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
<ixz>0.000</ixz>
<iyy>0.001</iyy>
<iyz>0.000</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.2</mass>
</inertial>
<collision name='caster_back_collision'>
<geometry>
<sphere>
<radius>0.012</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.01</mu>
<mu2>0.01</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="caster_back_visual">
<geometry>
<mesh>
<uri>model://d2/caster_back.STL</uri>
</mesh>
</geometry>
</visual>
</link>
<!-- ************************ JOINTS *********************************** -->
<!-- Pose of the joint is the same as the child link frame -->
<!-- Axis is the axis of rotation relative to the child link frame -->
<joint name="base_joint" type="fixed">
<parent>base_footprint</parent>
<child>base_link</child>
<pose>0 0 0 0 0 0</pose>
</joint>
<joint name="wheel_left_joint" type="revolute">
<parent>base_link</parent>
<child>wheel_left_link</child>
<pose>0 0 0 0 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint name="wheel_right_joint" type="revolute">
<parent>base_link</parent>
<child>wheel_right_link</child>
<pose>0 0 0 0 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint name='caster_front_joint' type='fixed'>
<parent>base_link</parent>
<child>caster_front_link</child>
<pose>0 0 0 0 0 0</pose>
</joint>
<joint name='caster_back_joint' type='fixed'>
<parent>base_link</parent>
<child>caster_back_link</child>
<pose>0 0 0 0 0 0</pose>
</joint>
<joint name="imu_joint" type="fixed">
<parent>base_link</parent>
<child>imu_link</child>
<pose>0 0 0 0 0 0</pose>
</joint>
<joint name="laser_joint" type="fixed">
<parent>base_link</parent>
<child>laser_link</child>
<pose>0 0 0 0 0 0</pose>
</joint>
<joint name="sonar_front_joint" type="fixed">
<parent>base_link</parent>
<child>sonar_front_link</child>
<pose>0 0 0 0 0 0</pose>
</joint>
<!-- *********************** WHEEL ODOMETRY *************************** -->
<plugin name="diff_drive" filename="libgazebo_ros_diff_drive.so">
<update_rate>30</update_rate>
<!-- wheels -->
<left_joint>wheel_left_joint</left_joint>
<right_joint>wheel_right_joint</right_joint>
<!-- kinematics -->
<wheel_separation>0.32514</wheel_separation>
<wheel_diameter>0.115</wheel_diameter>
<!-- limits -->
<max_wheel_torque>20</max_wheel_torque>
<max_wheel_acceleration>1.0</max_wheel_acceleration>
<!-- Receive velocity commands on this ROS topic -->
<command_topic>cmd_vel</command_topic>
<!-- output -->
<!-- When false, publish no wheel odometry data to a ROS topic -->
<publish_odom>true</publish_odom>
<!-- When true, publish coordinate transform from odom to base_footprint -->
<!-- I usually use the robot_localization package to publish this transform -->
<publish_odom_tf>true</publish_odom_tf>
<!-- When true, publish coordinate transform from base_link to the wheels -->
<!-- The robot_state_publisher package is often used to publish this transform -->
<publish_wheel_tf>false</publish_wheel_tf>
<odometry_topic>odom</odometry_topic>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_footprint</robot_base_frame>
<!-- Odometry source, 0 for ENCODER, 1 for WORLD, defaults to WORLD -->
<odometry_source>1</odometry_source>
<!-- Change the ROS topic we will publish the odometry data to -->
<ros>
<!-- <remapping>odom:=wheel/odometry</remapping> -->
<!-- <remapping>odom:=whe</remapping> -->
</ros>
</plugin>
<!-- *********************** JOINT STATE PUBLISHER ********************* -->
<plugin name="joint_state" filename="libgazebo_ros_joint_state_publisher.so">
<ros>
<remapping>~/out:=joint_states</remapping>
</ros>
<update_rate>30</update_rate>
<joint_name>wheel_left_joint</joint_name>
<joint_name>wheel_right_joint</joint_name>
</plugin>
</model>
</sdf>
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