Rune Harlyk
58 lines
2.0 KiB
XML
58 lines
2.0 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
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<xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
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<xacro:hokuyo_utm30lx
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name="hokuyo"
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parent="base_link"
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ros_topic="scan"
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update_rate="30"
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ray_count="1040"
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min_angle="130"
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max_angle="-130" >
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<origin xyz="0.0 0.0 0.1" rpy="0 0 0"/>
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</xacro:hokuyo_utm30lx>
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<gazebo reference="hokuyo_frame">
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<material>Gazebo/FlatBlack</material>
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</gazebo>
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<!-- <xacro:asus_camera
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parent="base_link"
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name="camera">
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<origin xyz="0.2 0.0 0.05" rpy="0 0 0"/>
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</xacro:asus_camera> -->
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<gazebo>
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<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
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<updateRate>50.0</updateRate>
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<bodyName>imu_link</bodyName>
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<topicName>imu/data</topicName>
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<accelDrift>0.005 0.005 0.005</accelDrift>
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<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
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<rateDrift>0.005 0.005 0.005 </rateDrift>
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<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
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<headingDrift>0.005</headingDrift>
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<headingGaussianNoise>0.005</headingGaussianNoise>
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</plugin>
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</gazebo>
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<link name="imu_link">
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<inertial>
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<mass value="0.001"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
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</inertial>
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</link>
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<joint name="imu_joint" type="fixed">
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<parent link="base_link" />
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<child link="imu_link" />
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</joint>
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<!-- <xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
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<xacro:champ_arm parent="base_link">
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<origin xyz="0.07 0.0 ${base_z_length / 2}" rpy="0 0 0"/>
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</xacro:champ_arm> -->
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</robot>
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