simulation/models/custom_ugv/model.sdf

<?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>