<link name="base_link">
<collision>
<geometry>
- <box size="0.23 0.18 0.09"/>
+ <box size="0.23 0.12 0.09"/>
</geometry>
</collision>
<visual>
<inertial>
<origin xyz="-0.00275 0 -0.02" rpy="0 0 0"/>
<mass value="2.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ <inertia ixx="0.012708" ixy="0.0" ixz="0.0" iyy="0.0084375" iyz="0.0" izz="0.017771"/>
</inertial>
</link>
<geometry>
<mesh filename="package://wild_thumper/meshes/rplidar_a2.stl" scale="0.001 0.001 0.001"/>
</geometry>
- <origin xyz="0.0 0.0 ${0.0408/2}" rpy="0 0 0"/>
+ <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<joint name="lidar_joint" type="fixed">
<parent link="mounting_plate"/>
<child link="lidar"/>
- <origin xyz="0.075 0.01 0.0" rpy="0 0 ${-110*PI/180}"/>
+ <origin xyz="0.075 0.01 ${0.0408/2}" rpy="0 0 ${-110*PI/180}"/>
</joint>
<xacro:macro name="wheel" params="pos side xyz rpy">
</geometry>
</visual>
<collision>
- <origin xyz="0 0 0" rpy="${-PI/2} 0 0"/>
+ <origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
<geometry>
<cylinder radius="0.06" length="0.06"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
- <mass value="0.1"/>
- <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.005"/>
+ <mass value="0.2"/>
+ <inertia ixx="0.00024" ixy="0" ixz="0" iyy="0.00036" iyz="0" izz="0.00024"/>
</inertial>
</link>
<gazebo reference="${pos}_${side}_wheel">
<mu1 value="1.0"/>
- <mu2 value="1.0"/>
- <kp value="1000000.0" />
- <kd value="1.0" />
- <fdir1 value="1 0 0"/>
+ <mu2 value="0.2"/>
+ <kp value="1000000000000.0" />
+ <kd value="0.0" />
+ <fdir1 value="0 1 0"/>
+ <minDepth>0.005</minDepth>
</gazebo>
<joint name="${pos}_${side}_wheel_joint" type="continuous">
</gazebo>
</xacro:macro>
- <xacro:range_sensor name="sonar_forward" ros_topic="range_forward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
+ <xacro:range_sensor name="sonar_forward_left" ros_topic="range_forward_left" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
+ <xacro:range_sensor name="sonar_forward_right" ros_topic="range_forward_right" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
<xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
<xacro:range_sensor name="ir_left" ros_topic="range_left" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
<xacro:range_sensor name="ir_right" ros_topic="range_right" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
+
+ <gazebo reference="lidar">
+ <sensor type="ray" name="head_rplidar_a2_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <visualize>false</visualize>
+ <update_rate>12</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1</resolution>
+ <min_angle>-3.12413907051</min_angle>
+ <max_angle>3.14159274101</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.20</min>
+ <max>16.0</max>
+ <resolution>0.01</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_head_rplidar_a2_controller" filename="libgazebo_ros_laser.so">
+ <topicName>/scan</topicName>
+ <frameName>lidar</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
</robot>