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2026-02-09 03:39:49 +00:00
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12
models/custom_ugv/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Custom UGV</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>UAV-UGV Simulation</name>
</author>
<description>
Custom ground vehicle with cameras for GPS-denied navigation.
</description>
</model>

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models/custom_ugv/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="custom_ugv">
<static>false</static>
<link name="base_link">
<pose>0 0 0.1 0 0 0</pose>
<inertial>
<mass>5.0</mass>
<inertia>
<ixx>0.1</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.15</iyy><iyz>0</iyz><izz>0.1</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry><box><size>0.4 0.3 0.15</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>0.4 0.3 0.15</size></box></geometry>
<material><ambient>0.3 0.3 0.8 1</ambient></material>
</visual>
</link>
<link name="left_wheel">
<pose>0 0.175 0.05 -1.5708 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.001</iyy><iyz>0</iyz><izz>0.001</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry><cylinder><radius>0.05</radius><length>0.04</length></cylinder></geometry>
<surface>
<friction><ode><mu>1.0</mu><mu2>1.0</mu2></ode></friction>
</surface>
</collision>
<visual name="visual">
<geometry><cylinder><radius>0.05</radius><length>0.04</length></cylinder></geometry>
<material><ambient>0.1 0.1 0.1 1</ambient></material>
</visual>
</link>
<link name="right_wheel">
<pose>0 -0.175 0.05 -1.5708 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.001</iyy><iyz>0</iyz><izz>0.001</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry><cylinder><radius>0.05</radius><length>0.04</length></cylinder></geometry>
<surface>
<friction><ode><mu>1.0</mu><mu2>1.0</mu2></ode></friction>
</surface>
</collision>
<visual name="visual">
<geometry><cylinder><radius>0.05</radius><length>0.04</length></cylinder></geometry>
<material><ambient>0.1 0.1 0.1 1</ambient></material>
</visual>
</link>
<link name="caster">
<pose>-0.15 0 0.025 0 0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.0001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.0001</iyy><iyz>0</iyz><izz>0.0001</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry><sphere><radius>0.025</radius></sphere></geometry>
<surface>
<friction><ode><mu>0.0</mu><mu2>0.0</mu2></ode></friction>
</surface>
</collision>
<visual name="visual">
<geometry><sphere><radius>0.025</radius></sphere></geometry>
<material><ambient>0.1 0.1 0.1 1</ambient></material>
</visual>
</link>
<joint name="left_wheel_joint" type="revolute">
<parent>base_link</parent>
<child>left_wheel</child>
<axis><xyz>0 0 1</xyz></axis>
</joint>
<joint name="right_wheel_joint" type="revolute">
<parent>base_link</parent>
<child>right_wheel</child>
<axis><xyz>0 0 1</xyz></axis>
</joint>
<joint name="caster_joint" type="ball">
<parent>base_link</parent>
<child>caster</child>
</joint>
<link name="camera_link">
<pose>0.22 0 0.15 0 0 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.00001</iyy><iyz>0</iyz><izz>0.00001</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry><box><size>0.02 0.04 0.02</size></box></geometry>
<material><ambient>0 0 0 1</ambient></material>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.57</horizontal_fov>
<image><width>640</width><height>480</height><format>R8G8B8</format></image>
<clip><near>0.1</near><far>50</far></clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<plugin name="camera_plugin" filename="libgazebo_ros_camera.so">
<ros>
<namespace>/ugv</namespace>
<remapping>image_raw:=camera/forward/image_raw</remapping>
<remapping>camera_info:=camera/forward/camera_info</remapping>
</ros>
<camera_name>forward_camera</camera_name>
<frame_name>camera_link</frame_name>
</plugin>
</sensor>
</link>
<joint name="camera_joint" type="fixed">
<parent>base_link</parent>
<child>camera_link</child>
</joint>
<plugin name="diff_drive" filename="libgazebo_ros_diff_drive.so">
<ros><namespace>/ugv</namespace></ros>
<left_joint>left_wheel_joint</left_joint>
<right_joint>right_wheel_joint</right_joint>
<wheel_separation>0.35</wheel_separation>
<wheel_diameter>0.1</wheel_diameter>
<max_wheel_torque>5</max_wheel_torque>
<max_wheel_acceleration>2.0</max_wheel_acceleration>
<command_topic>cmd_vel</command_topic>
<odometry_topic>odom</odometry_topic>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<publish_wheel_tf>true</publish_wheel_tf>
</plugin>
</model>
</sdf>

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models/iris_with_camera/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Iris with Camera</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>UAV-UGV Simulation</name>
<email>developer@example.com</email>
</author>
<description>
Iris quadcopter with forward and downward cameras for GPS-denied navigation.
</description>
</model>

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models/iris_with_camera/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="iris_with_camera">
<include>
<uri>model://iris</uri>
</include>
<link name="forward_camera_link">
<pose>0.1 0 0 0 0 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.00001</iyy><iyz>0</iyz><izz>0.00001</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry><box><size>0.02 0.02 0.02</size></box></geometry>
<material><ambient>0 0 0 1</ambient></material>
</visual>
<sensor name="forward_camera" type="camera">
<camera>
<horizontal_fov>1.57</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip><near>0.1</near><far>100</far></clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<ros>
<namespace>/uav</namespace>
<remapping>image_raw:=camera/forward/image_raw</remapping>
<remapping>camera_info:=camera/forward/camera_info</remapping>
</ros>
<camera_name>forward_camera</camera_name>
<frame_name>forward_camera_link</frame_name>
</plugin>
</sensor>
</link>
<joint name="forward_camera_joint" type="fixed">
<parent>iris::base_link</parent>
<child>forward_camera_link</child>
</joint>
<link name="downward_camera_link">
<pose>0 0 -0.05 0 1.5708 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.00001</iyy><iyz>0</iyz><izz>0.00001</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry><box><size>0.02 0.02 0.02</size></box></geometry>
<material><ambient>0.3 0.3 0.3 1</ambient></material>
</visual>
<sensor name="downward_camera" type="camera">
<camera>
<horizontal_fov>1.2</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
<format>R8G8B8</format>
</image>
<clip><near>0.1</near><far>50</far></clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>false</visualize>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<ros>
<namespace>/uav</namespace>
<remapping>image_raw:=camera/downward/image_raw</remapping>
<remapping>camera_info:=camera/downward/camera_info</remapping>
</ros>
<camera_name>downward_camera</camera_name>
<frame_name>downward_camera_link</frame_name>
</plugin>
</sensor>
</link>
<joint name="downward_camera_joint" type="fixed">
<parent>iris::base_link</parent>
<child>downward_camera_link</child>
</joint>
<link name="rangefinder_link">
<pose>0 0 -0.06 0 1.5708 0</pose>
<inertial>
<mass>0.005</mass>
<inertia>
<ixx>0.000001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.000001</iyy><iyz>0</iyz><izz>0.000001</izz>
</inertia>
</inertial>
<sensor name="rangefinder" type="ray">
<ray>
<scan>
<horizontal><samples>1</samples><resolution>1</resolution><min_angle>0</min_angle><max_angle>0</max_angle></horizontal>
</scan>
<range><min>0.1</min><max>10</max><resolution>0.01</resolution></range>
</ray>
<always_on>1</always_on>
<update_rate>30</update_rate>
<plugin name="range_plugin" filename="libgazebo_ros_ray_sensor.so">
<ros>
<namespace>/uav</namespace>
<remapping>~/out:=rangefinder/range</remapping>
</ros>
<output_type>sensor_msgs/Range</output_type>
<frame_name>rangefinder_link</frame_name>
</plugin>
</sensor>
</link>
<joint name="rangefinder_joint" type="fixed">
<parent>iris::base_link</parent>
<child>rangefinder_link</child>
</joint>
</model>
</sdf>

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models/iris_with_sensors/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Iris with Sensors</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>UAV-UGV Simulation</name>
</author>
<description>
Iris quadcopter with optical flow sensor for GPS-denied navigation.
</description>
</model>

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models/iris_with_sensors/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="iris_with_sensors">
<include>
<uri>model://iris</uri>
</include>
<link name="optical_flow_link">
<pose>0 0 -0.05 0 1.5708 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.00001</iyy><iyz>0</iyz><izz>0.00001</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry><cylinder><radius>0.01</radius><length>0.02</length></cylinder></geometry>
<material><ambient>0.2 0.2 0.2 1</ambient></material>
</visual>
<sensor name="optical_flow_camera" type="camera">
<camera>
<horizontal_fov>1.0</horizontal_fov>
<image>
<width>160</width>
<height>120</height>
<format>R8G8B8</format>
</image>
<clip><near>0.1</near><far>20</far></clip>
</camera>
<always_on>1</always_on>
<update_rate>60</update_rate>
<plugin name="optical_flow_plugin" filename="libgazebo_ros_camera.so">
<ros>
<namespace>/uav</namespace>
<remapping>image_raw:=optical_flow/image_raw</remapping>
</ros>
<camera_name>optical_flow</camera_name>
<frame_name>optical_flow_link</frame_name>
</plugin>
</sensor>
</link>
<joint name="optical_flow_joint" type="fixed">
<parent>iris::base_link</parent>
<child>optical_flow_link</child>
</joint>
<link name="imu_link">
<pose>0 0 0 0 0 0</pose>
<inertial>
<mass>0.005</mass>
<inertia>
<ixx>0.000001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.000001</iyy><iyz>0</iyz><izz>0.000001</izz>
</inertia>
</inertial>
<sensor name="imu_sensor" type="imu">
<imu>
<angular_velocity>
<x><noise type="gaussian"><mean>0</mean><stddev>0.0002</stddev></noise></x>
<y><noise type="gaussian"><mean>0</mean><stddev>0.0002</stddev></noise></y>
<z><noise type="gaussian"><mean>0</mean><stddev>0.0002</stddev></noise></z>
</angular_velocity>
<linear_acceleration>
<x><noise type="gaussian"><mean>0</mean><stddev>0.017</stddev></noise></x>
<y><noise type="gaussian"><mean>0</mean><stddev>0.017</stddev></noise></y>
<z><noise type="gaussian"><mean>0</mean><stddev>0.017</stddev></noise></z>
</linear_acceleration>
</imu>
<always_on>1</always_on>
<update_rate>200</update_rate>
<plugin name="imu_plugin" filename="libgazebo_ros_imu_sensor.so">
<ros>
<namespace>/uav</namespace>
<remapping>~/out:=imu/data</remapping>
</ros>
<frame_name>imu_link</frame_name>
</plugin>
</sensor>
</link>
<joint name="imu_joint" type="fixed">
<parent>iris::base_link</parent>
<child>imu_link</child>
</joint>
</model>
</sdf>