</geometry>
</visual>
<inertial>
- <origin xyz="-0.00275 0 -0.02" rpy="0 0 0"/>
+ <origin xyz="-0.00275 0 0" rpy="0 0 0"/>
<mass value="2.5"/>
- <inertia ixx="0.012708" ixy="0.0" ixz="0.0" iyy="0.0084375" iyz="0.0" izz="0.017771"/>
+ <inertia izz="0.014021" ixy="0.0" ixz="0.0" iyy="0.012708" iyz="0.0" ixx="0.0046875"/>
</inertial>
</link>
<mu1 value="1.0"/>
<mu2 value="0.2"/>
<kp value="1000000000000.0" />
- <kd value="0.0" />
+ <kd value="1.0" />
<fdir1 value="0 1 0"/>
<minDepth>0.005</minDepth>
</gazebo>
<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">