164 lines
6.6 KiB
XML
164 lines
6.6 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="bcr_bot">
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<!-- ........................... SENSOR PLUGIN ................................... -->
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<gazebo>
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<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu">
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</plugin>
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<plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
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</plugin>
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<!-- ........................... DIFFERENTIAL DRIVE PLUGIN ................................... -->
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<plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
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<left_joint>middle_left_wheel_joint</left_joint>
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<right_joint>middle_right_wheel_joint</right_joint>
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<wheel_separation>${traction_track_width+traction_wheel_width-0.01}</wheel_separation>
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<wheel_radius>${traction_wheel_radius+0.01}</wheel_radius>
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<odom_publish_frequency>30</odom_publish_frequency>
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<topic>/cmd_vel</topic>
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<xacro:if value="${odometry_source == 'encoders'}">
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<odom_topic>$(arg wheel_odom_topic)</odom_topic>
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<tf_topic>/tf</tf_topic>
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</xacro:if>
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<frame_id>odom</frame_id>
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<child_frame_id>base_footprint</child_frame_id>
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</plugin>
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</gazebo>
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<!-- ............................. ground truth .................................... -->
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<xacro:if value="${odometry_source == 'world'}">
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<gazebo>
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<plugin filename="libgz-sim-odometry-publisher-system"
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name="gz::sim::systems::OdometryPublisher">
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<odom_frame>odom</odom_frame>
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<robot_base_frame>base_footprint</robot_base_frame>
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<odom_topic>$(arg wheel_odom_topic)</odom_topic>
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<tf_topic>/tf</tf_topic>
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<dimensions>2</dimensions>
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<odom_publish_frequency>10</odom_publish_frequency>
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</plugin>
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</gazebo>
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</xacro:if>
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<!-- ........................... 2D LIDAR config ................................... -->
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<xacro:if value="$(arg two_d_lidar_enabled)">
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<gazebo reference="two_d_lidar">
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<sensor name='gpu_lidar' type='gpu_lidar'>
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<topic>scan</topic>
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<update_rate>${two_d_lidar_update_rate}</update_rate>
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<gz_frame_id>two_d_lidar</gz_frame_id>
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<lidar>
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<scan>
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<horizontal>
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<samples>${two_d_lidar_sample_size}</samples>
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<resolution>1</resolution>
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<min_angle>${radians(two_d_lidar_min_angle)}</min_angle>
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<max_angle>${radians(two_d_lidar_max_angle)}</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>${two_d_lidar_min_range}</min>
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<max>${two_d_lidar_max_range}</max>
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<resolution>0.01</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.001</stddev>
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</noise>
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</lidar>
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<always_on>1</always_on>
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<visualize>true</visualize>
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</sensor>
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</gazebo>
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</xacro:if>
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<!-- ........................... CAMERA config ................................... -->
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<xacro:if value="$(arg camera_enabled)">
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<gazebo reference="kinect_camera">
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<sensor type="depth_camera" name="kinect_camera">
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<update_rate>10.0</update_rate>
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<topic>kinect_camera</topic>
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<gz_frame_id>kinect_camera</gz_frame_id>
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<camera>
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<camera_info_topic>kinect_camera/camera_info</camera_info_topic>
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<horizontal_fov>${radians(camera_horizontal_fov)}</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.05</near>
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<far>8.0</far>
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</clip>
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</camera>
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</sensor>
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</gazebo>
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</xacro:if>
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<!-- ........................... IMU config ................................... -->
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<gazebo reference="imu_frame">
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<sensor name="imu_sensor" type="imu">
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<always_on>1</always_on>
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<update_rate>1</update_rate>
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<gz_frame_id>imu_frame</gz_frame_id>
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<visualize>true</visualize>
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<topic>imu</topic>
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</sensor>
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</gazebo>
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<!-- ........................... Stereo camera ................................... -->
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<xacro:if value="$(arg stereo_camera_enabled)">
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<gazebo reference="stereo_camera">
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<sensor type="camera" name="right">
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<update_rate>10.0</update_rate>
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<always_on>true</always_on>
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<gz_frame_id>stereo_camera_optical</gz_frame_id>
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<pose>0 -0.12 0 0 0 0</pose>
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<topic>stereo_camera/right/image_raw</topic>
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<camera_info_topic>stereo_camera/right/camera_info</camera_info_topic>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>1024</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.3</near>
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<far>20</far>
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</clip>
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</sensor>
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<sensor type="camera" name="left">
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<topic>stereo_camera/left/image_raw</topic>
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<update_rate>10.0</update_rate>
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<always_on>true</always_on>
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<gz_frame_id>stereo_camera_optical</gz_frame_id>
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<camera_info_topic>stereo_camera/left/camera_info</camera_info_topic>
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<pose>0 0 0 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>1024</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.3</near>
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<far>20</far>
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</clip>
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</sensor>
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</gazebo>
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</xacro:if>
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</robot> |