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exrhizo/gist:5988718

Created July 12, 2013 23:56
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SDF for an ackermann type vehicle
Raw
gistfile1.txt
<sdf version='1.3'>
<model name='ackermann'>
<!--base link and front link-->
<link name='base_link'>
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<inertial>
<pose>0.400000 0.000000 -0.125000 0.000000 0.000000 0.000000</pose>
<mass>2.000000</mass>
<inertia>
<ixx>2.062500</ixx>
<ixy>0.000000</ixy>
<ixz>0.200000</ixz>
<iyy>2.702500</iyy>
<iyz>0.000000</iyz>
<izz>2.640000</izz>
</inertia>
</inertial>
<collision name='base_link_geom'>
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<geometry>
<box>
<size>2.000000 1.000000 0.100000</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_link_geom_front_link'>
<pose>0.800000 0.000000 -0.250000 0.000000 0.000000 0.000000</pose>
<geometry>
<box>
<size>0.100000 1.000000 0.010000</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_link_visual'>
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<geometry>
<box>
<size>2.000000 1.000000 0.100000</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<visual name='base_link_visualfront_link'>
<pose>0.800000 0.000000 -0.250000 0.000000 0.000000 0.000000</pose>
<geometry>
<box>
<size>0.100000 1.000000 0.010000</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Gold</name>
<uri>__default__</uri>
</script>
</material>
<material>
<script>
<name>Gazebo/WhiteGlow</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<gravity>1</gravity>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
</link>
<!--back left wheel -->
<link name='back_left_wheel_link'>
<pose>-0.800000 0.550000 -0.250000 0.000000 0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<mass>1.000000</mass>
<inertia>
<ixx>1.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>1.000000</iyy>
<iyz>0.000000</iyz>
<izz>1.000000</izz>
</inertia>
</inertial>
<collision name='back_left_wheel_link_geom'>
<pose>0.000000 0.000000 0.000000 1.570800 0.000000 0.000000</pose>
<geometry>
<cylinder>
<length>0.010000</length>
<radius>0.200000</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='back_left_wheel_link_visual'>
<pose>0.000000 0.000000 0.000000 1.570800 0.000000 0.000000</pose>
<geometry>
<cylinder>
<length>0.010000</length>
<radius>0.200000</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Green</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
</link>
<joint name='back_left_wheel_joint' type='revolute'>
<child>back_left_wheel_link</child>
<parent>base_link</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-10000000000000000.000000</lower>
<upper>10000000000000000.000000</upper>
</limit>
<dynamics/>
</axis>
</joint>
<!--back right wheel -->
<link name='back_right_wheel_link'>
<pose>-0.800000 -0.550000 -0.250000 0.000000 0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<mass>1.000000</mass>
<inertia>
<ixx>1.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>1.000000</iyy>
<iyz>0.000000</iyz>
<izz>1.000000</izz>
</inertia>
</inertial>
<collision name='back_right_wheel_link_geom'>
<pose>0.000000 0.000000 0.000000 1.570800 0.000000 0.000000</pose>
<geometry>
<cylinder>
<length>0.010000</length>
<radius>0.200000</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='back_right_wheel_link_visual'>
<pose>0.000000 0.000000 0.000000 1.570800 0.000000 0.000000</pose>
<geometry>
<cylinder>
<length>0.010000</length>
<radius>0.200000</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Green</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
</link>
<joint name='back_right_wheel_joint' type='revolute'>
<child>back_right_wheel_link</child>
<parent>base_link</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-10000000000000000.000000</lower>
<upper>10000000000000000.000000</upper>
</limit>
<dynamics/>
</axis>
</joint>
<!--front left bar link -->
<link name='front_left_bar_link'>
<pose>0.800000 0.450000 -0.250000 0.000000 0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<mass>1.000000</mass>
<inertia>
<ixx>1.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>1.000000</iyy>
<iyz>0.000000</iyz>
<izz>1.000000</izz>
</inertia>
</inertial>
<collision name='front_left_bar_link_geom'>
<pose>-0.150000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<geometry>
<box>
<size>0.400000 0.100000 0.010000</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='front_left_bar_link_visual'>
<pose>-0.150000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<geometry>
<box>
<size>0.400000 0.100000 0.010000</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Green</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
</link>
<joint name='front_left_bar_joint' type='revolute'>
<child>front_left_bar_link</child>
<parent>base_link</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.500000</lower>
<upper>0.500000</upper>
<effort>100.000000</effort>
<velocity>10.000000</velocity>
</limit>
<dynamics/>
</axis>
</joint>
<link name='front_left_wheel_link'>
<pose>0.800000 0.550000 -0.250000 0.000000 0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<mass>1.000000</mass>
<inertia>
<ixx>1.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>1.000000</iyy>
<iyz>0.000000</iyz>
<izz>1.000000</izz>
</inertia>
</inertial>
<collision name='front_left_wheel_link_geom'>
<pose>0.000000 0.000000 0.000000 1.570800 0.000000 0.000000</pose>
<geometry>
<cylinder>
<length>0.010000</length>
<radius>0.200000</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='front_left_wheel_link_visual'>
<pose>0.000000 0.000000 0.000000 1.570800 0.000000 0.000000</pose>
<geometry>
<cylinder>
<length>0.010000</length>
<radius>0.200000</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Green</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
</link>
<joint name='front_left_wheel_joint' type='revolute'>
<child>front_left_wheel_link</child>
<parent>front_left_bar_link</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-10000000000000000.000000</lower>
<upper>10000000000000000.000000</upper>
</limit>
<dynamics/>
</axis>
</joint>
<link name='front_right_bar_link'>
<pose>0.800000 -0.450000 -0.250000 0.000000 0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<mass>1.000000</mass>
<inertia>
<ixx>1.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>1.000000</iyy>
<iyz>0.000000</iyz>
<izz>1.000000</izz>
</inertia>
</inertial>
<collision name='front_right_bar_link_geom'>
<pose>-0.150000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<geometry>
<box>
<size>0.400000 0.100000 0.010000</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='front_right_bar_link_visual'>
<pose>-0.150000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<geometry>
<box>
<size>0.400000 0.100000 0.010000</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
</link>
<joint name='front_right_bar_joint' type='revolute'>
<child>front_right_bar_link</child>
<parent>base_link</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.500000</lower>
<upper>0.500000</upper>
<effort>100.000000</effort>
<velocity>10.000000</velocity>
</limit>
<dynamics/>
</axis>
</joint>
<link name='front_right_wheel_link'>
<pose>0.800000 -0.550000 -0.250000 0.000000 0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<mass>1.000000</mass>
<inertia>
<ixx>1.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>1.000000</iyy>
<iyz>0.000000</iyz>
<izz>1.000000</izz>
</inertia>
</inertial>
<collision name='front_right_wheel_link_geom'>
<pose>0.000000 0.000000 0.000000 1.570800 0.000000 0.000000</pose>
<geometry>
<cylinder>
<length>0.010000</length>
<radius>0.200000</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='front_right_wheel_link_visual'>
<pose>0.000000 0.000000 0.000000 1.570800 0.000000 0.000000</pose>
<geometry>
<cylinder>
<length>0.010000</length>
<radius>0.200000</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Green</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
</link>
<joint name='front_right_wheel_joint' type='revolute'>
<child>front_right_wheel_link</child>
<parent>front_right_bar_link</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-10000000000000000.000000</lower>
<upper>10000000000000000.000000</upper>
</limit>
<dynamics/>
</axis>
</joint>
<link name='steer_link'>
<pose>0.800000 0.000000 -0.250000 0.000000 0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<mass>1.000000</mass>
<inertia>
<ixx>1.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>1.000000</iyy>
<iyz>0.000000</iyz>
<izz>1.000000</izz>
</inertia>
</inertial>
<collision name='steer_link_geom'>
<pose>-0.150000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<geometry>
<box>
<size>0.400000 0.100000 0.010000</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='steer_link_visual'>
<pose>-0.150000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<geometry>
<box>
<size>0.400000 0.100000 0.010000</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/PurpleGlow</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
</link>
<joint name='steer_joint' type='revolute'>
<child>steer_link</child>
<parent>base_link</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.500000</lower>
<upper>0.500000</upper>
<effort>100.000000</effort>
<velocity>10.000000</velocity>
</limit>
<dynamics/>
</axis>
</joint>
<link name='ackermann_bar_link'>
<pose>0.500000 0.000000 -0.250000 0.000000 0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<mass>1.000000</mass>
<inertia>
<ixx>1.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>1.000000</iyy>
<iyz>0.000000</iyz>
<izz>1.000000</izz>
</inertia>
</inertial>
<collision name='ackermann_bar_link_geom'>
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<geometry>
<box>
<size>0.100000 1.000000 0.010000</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='ackermann_bar_link_visual'>
<pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
<geometry>
<box>
<size>0.100000 1.000000 0.010000</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Yellow</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
</link>
<joint name='ackermann_joint' type='revolute'>
<child>ackermann_bar_link</child>
<parent>steer_link</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.500000</lower>
<upper>0.500000</upper>
<effort>100.000000</effort>
<velocity>10.000000</velocity>
</limit>
<dynamics/>
</axis>
</joint>
<!-- Adding loop joints -->
<joint name='ackermann_left_bar_joint' type='revolute'>
<parent>ackermann_bar_link</parent>
<child>front_left_bar_link</child>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.500000</lower>
<upper>0.500000</upper>
<effort>100.000000</effort>
<velocity>10.000000</velocity>
</limit>
<dynamics/>
</axis>
</joint>
<joint name='ackermann_right_bar_joint' type='revolute'>
<parent>ackermann_bar_link</parent>
<child>front_right_bar_link</child>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.500000</lower>
<upper>0.500000</upper>
<effort>100.000000</effort>
<velocity>10.000000</velocity>
</limit>
<dynamics/>
</axis>
</joint>
<pose>0.000000 0.000000 1.000000 0.000000 0.000000 0.000000</pose>
</model>
</sdf>
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