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models/custom_ugv/model.config
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12
models/custom_ugv/model.config
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<?xml version="1.0"?>
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<model>
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<name>Custom UGV</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name>UAV-UGV Simulation</name>
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</author>
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<description>
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Custom ground vehicle with cameras for GPS-denied navigation.
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</description>
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</model>
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159
models/custom_ugv/model.sdf
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models/custom_ugv/model.sdf
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="custom_ugv">
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<static>false</static>
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<link name="base_link">
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<pose>0 0 0.1 0 0 0</pose>
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<inertial>
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<mass>5.0</mass>
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<inertia>
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<ixx>0.1</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.15</iyy><iyz>0</iyz><izz>0.1</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry><box><size>0.4 0.3 0.15</size></box></geometry>
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</collision>
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<visual name="visual">
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<geometry><box><size>0.4 0.3 0.15</size></box></geometry>
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<material><ambient>0.3 0.3 0.8 1</ambient></material>
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</visual>
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</link>
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<link name="left_wheel">
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<pose>0 0.175 0.05 -1.5708 0 0</pose>
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<inertial>
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<mass>0.5</mass>
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<inertia>
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<ixx>0.001</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.001</iyy><iyz>0</iyz><izz>0.001</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry><cylinder><radius>0.05</radius><length>0.04</length></cylinder></geometry>
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<surface>
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<friction><ode><mu>1.0</mu><mu2>1.0</mu2></ode></friction>
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</surface>
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</collision>
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<visual name="visual">
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<geometry><cylinder><radius>0.05</radius><length>0.04</length></cylinder></geometry>
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<material><ambient>0.1 0.1 0.1 1</ambient></material>
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</visual>
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</link>
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<link name="right_wheel">
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<pose>0 -0.175 0.05 -1.5708 0 0</pose>
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<inertial>
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<mass>0.5</mass>
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<inertia>
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<ixx>0.001</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.001</iyy><iyz>0</iyz><izz>0.001</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry><cylinder><radius>0.05</radius><length>0.04</length></cylinder></geometry>
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<surface>
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<friction><ode><mu>1.0</mu><mu2>1.0</mu2></ode></friction>
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</surface>
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</collision>
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<visual name="visual">
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<geometry><cylinder><radius>0.05</radius><length>0.04</length></cylinder></geometry>
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<material><ambient>0.1 0.1 0.1 1</ambient></material>
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</visual>
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</link>
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<link name="caster">
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<pose>-0.15 0 0.025 0 0 0</pose>
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<inertial>
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<mass>0.1</mass>
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<inertia>
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<ixx>0.0001</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.0001</iyy><iyz>0</iyz><izz>0.0001</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry><sphere><radius>0.025</radius></sphere></geometry>
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<surface>
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<friction><ode><mu>0.0</mu><mu2>0.0</mu2></ode></friction>
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</surface>
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</collision>
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<visual name="visual">
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<geometry><sphere><radius>0.025</radius></sphere></geometry>
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<material><ambient>0.1 0.1 0.1 1</ambient></material>
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</visual>
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</link>
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<joint name="left_wheel_joint" type="revolute">
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<parent>base_link</parent>
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<child>left_wheel</child>
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<axis><xyz>0 0 1</xyz></axis>
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</joint>
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<joint name="right_wheel_joint" type="revolute">
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<parent>base_link</parent>
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<child>right_wheel</child>
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<axis><xyz>0 0 1</xyz></axis>
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</joint>
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<joint name="caster_joint" type="ball">
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<parent>base_link</parent>
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<child>caster</child>
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</joint>
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<link name="camera_link">
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<pose>0.22 0 0.15 0 0 0</pose>
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<inertial>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.00001</iyy><iyz>0</iyz><izz>0.00001</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry><box><size>0.02 0.04 0.02</size></box></geometry>
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<material><ambient>0 0 0 1</ambient></material>
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</visual>
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<sensor name="camera" type="camera">
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<camera>
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<horizontal_fov>1.57</horizontal_fov>
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<image><width>640</width><height>480</height><format>R8G8B8</format></image>
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<clip><near>0.1</near><far>50</far></clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<plugin name="camera_plugin" filename="libgazebo_ros_camera.so">
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<ros>
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<namespace>/ugv</namespace>
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<remapping>image_raw:=camera/forward/image_raw</remapping>
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<remapping>camera_info:=camera/forward/camera_info</remapping>
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</ros>
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<camera_name>forward_camera</camera_name>
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<frame_name>camera_link</frame_name>
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</plugin>
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</sensor>
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</link>
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<joint name="camera_joint" type="fixed">
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<parent>base_link</parent>
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<child>camera_link</child>
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</joint>
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<plugin name="diff_drive" filename="libgazebo_ros_diff_drive.so">
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<ros><namespace>/ugv</namespace></ros>
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<left_joint>left_wheel_joint</left_joint>
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<right_joint>right_wheel_joint</right_joint>
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<wheel_separation>0.35</wheel_separation>
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<wheel_diameter>0.1</wheel_diameter>
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<max_wheel_torque>5</max_wheel_torque>
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<max_wheel_acceleration>2.0</max_wheel_acceleration>
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<command_topic>cmd_vel</command_topic>
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<odometry_topic>odom</odometry_topic>
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<odometry_frame>odom</odometry_frame>
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<robot_base_frame>base_link</robot_base_frame>
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<publish_odom>true</publish_odom>
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<publish_odom_tf>true</publish_odom_tf>
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<publish_wheel_tf>true</publish_wheel_tf>
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</plugin>
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</model>
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</sdf>
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