Robot description files

diff_driver.yam

vica_robot_controller:
  type        : "diff_drive_controller/DiffDriveController"
  left_wheel  : 'l_wheel_joint'
  right_wheel : 'r_wheel_joint'
  pid: {p: 100.0, i: 0.01, d: 10.0}
  
  
  
  publish_rate: 100.0               # default: 50
  pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
  twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
  
  # Wheel separation and diameter. These are both optional.
  # diff_drive_controller will attempt to read either one or both from the
  # URDF if not specified as a parameter
  wheel_separation : 0.22
  wheel_radius : 0.06
  
  # Wheel separation and radius multipliers
  wheel_separation_multiplier: 1.0 # default: 1.0
  wheel_radius_multiplier    : 1.0 # default: 1.0
  
  # Velocity commands timeout [s], default 0.5
  cmd_vel_timeout: 0.5
  
   # Base frame_id
  base_frame_id: base_link #default: base_link
  
  # Velocity and acceleration limits
  # Whenever a min_* is unspecified, default to -max_*
  linear:
    x:
      has_velocity_limits    : true
      max_velocity           : 0.4  # m/s
      min_velocity           : -0.4 # m/s
      has_acceleration_limits: true
      max_acceleration       : 0.2  # m/s^2
      min_acceleration       : -0.2 # m/s^2

  angular:
    z:
      has_velocity_limits    : true
      max_velocity           : 0.6  # rad/s
      has_acceleration_limits: true
      max_acceleration       : 0.4  # rad/s^2


  joint_read_state_controller:
      type: joint_state_controller/JointStateController 
      publish_rate: 100.0

  #Publish to TF directly or not
  enable_odom_tf: true

  #Name of frame to publish odometry in
  odom_frame_id: odom

  # Publish the velocity command to be executed. 
  # It is to monitor the effect of limiters on the controller input.
  publish_cmd: true

model.xacro

<?xml version="1.0"?>
<robot name="ubot" xmlns:xacro="http://www.ros.org/wiki/xacro">

	<xacro:include filename="$(find vica_robot)/urdf/robot.gazebo" />
	<xacro:include filename="$(find vica_robot)/urdf/materials.xacro" />
	<xacro:include filename="$(find vica_robot)/urdf/macros.xacro" />

	<robotBaseFrame>base_link</robotBaseFrame>

	<link name="base_link">
	
		<visual>
			<origin rpy="0 0 0" xyz="0 0 0.01" />
			<geometry>
				<mesh scale=".0010 .0010 .0010" filename="package://vica_robot/meshes/base.stl" />
			</geometry>

			<material name="Yellow">
				<color rgba="1 1 0 1" />
			</material>
		</visual>

		<collision>
			<origin rpy="0 0 0" xyz="0 0 0.01" />
			<geometry>
				<mesh scale=".0010 .0010 .0010" filename="package://vica_robot/meshes/base.stl" />
			</geometry>
		</collision>

		<inertial>
			<mass value="5.76" />
			<inertia ixx="0.88" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="0.88" />
		</inertial>




		
		<visual name='caster_visual_front'>
			<origin xyz="-0.135 0.00 0.0035" rpy="0 0 0" />
			<geometry>
				<sphere radius="0.00339" />
			</geometry>
		</visual>

		<collision name='caster_collision_front'>
			<origin xyz="-0.135 0.00 0.0035" rpy="0 0 0" />
			<geometry>
				<sphere radius="0.00339" />
			</geometry>
			<surface>
				<friction>
					<ode>
		                  <mu>0</mu>
		                  <mu2>0</mu2>
		                  <slip1>1.0</slip1>
		                  <slip2>1.0</slip2>
					</ode>
				</friction>
			</surface>
		</collision>
		
		

		<visual name='caster_visual_back'>
			<origin xyz="0.135 0.00 0.0035" rpy="0 0 0" />
			<geometry>
				<sphere radius="0.00339" />
			</geometry>
		</visual>

		<collision name='caster_collision_back'>
			<origin xyz="0.135 0.00 0.0035" rpy="0 0 0" />
			<geometry>
				<sphere radius="0.00339" />
			</geometry>
			<surface>
				<friction>
					<ode>
		                  <mu>0</mu>
		                  <mu2>0</mu2>
		                  <slip1>1.0</slip1>
		                  <slip2>1.0</slip2>
					</ode>
				</friction>
			</surface>
		</collision>




	</link>


	<link name="r_wheel">
		<visual>
			<origin rpy="0 0 1.57079632679" xyz="0 0 0" />
			<geometry>
				<mesh scale=".0010 .0010 .0010" filename="package://vica_robot/meshes/rwheel.stl" />
			</geometry>

			<material name="Blue">
				<color rgba="0 1 1 1" />
			</material>
		</visual>


		<collision>
			<origin rpy="0 0 1.57079632679" xyz="0 0 0" />
			<geometry>
				<mesh scale=".0010 .0010 .0010" filename="package://vica_robot/meshes/rwheel.stl" />
			</geometry>
			<surface>
				<friction>
					<ode>
						<mu>100</mu>
						<mu2>100</mu2>
					</ode>
				</friction>
			</surface>
		</collision>

		<inertial>
			<mass value="0.181" />
			<cylinder_inertia m="5" r="0.1" h="0.05" />
			<inertia ixx="0.89" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="0.88" />
		</inertial>

	</link>

	<link name="l_wheel">
		<visual>
			<origin rpy="0 0 1.57079632679" xyz="0 0 0" />
			<geometry>
				<mesh scale=".0010 .0010 .0010" filename="package://vica_robot/meshes/lwheel.stl" />
			</geometry>

			<material name="Blue">
				<color rgba="0 1 1 1" />
			</material>

		</visual>

		<collision>
			<origin rpy="0 0 1.57079632679" xyz="0 0 0" />
			<geometry>
				<mesh scale=".0010 .0010 .0010" filename="package://vica_robot/meshes/lwheel.stl" />
			</geometry>
			<surface>
				<friction>
					<ode>
						<mu>100</mu>
						<mu2>100</mu2>
					</ode>
				</friction>
			</surface>
		</collision>

		<inertial>
			<mass value="0.181" />
			<cylinder_inertia m="5" r="0.1" h="0.05" />
			<inertia ixx="0.88" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="0.88" />
		</inertial>
	</link>



	<link name="kinect">
		<visual>
			<origin rpy="0 0 0" xyz="0 0 0" />
			<geometry>
				<mesh scale=".0010 .0010 .0010" filename="package://vica_robot/meshes/kinect.stl" />
			</geometry>
			<material name="Red">
				<color rgba="1 0 0 1" />
			</material>
		</visual>

		<collision>
			<geometry>
				<mesh scale=".0010 .0010 .0010" filename="package://vica_robot/meshes/kinect.stl" />
			</geometry>
		</collision>

		<inertial>
			<mass value="0.681" />
			<inertia ixx="0.89" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="0.89" />
		</inertial>

	</link>

	<link name="rplidar">
		<visual>
			<origin rpy="1.57079632679 0 0" xyz="0 0 -0.04" />
			<geometry>
				<mesh scale=".0010 .0010 .0010" filename="package://vica_robot/meshes/rplidar.stl" />
			</geometry>

			<material name="Red">
				<color rgba="1 0 0 1" />
			</material>
		</visual>


		<collision>
			<geometry>
				<mesh scale=".0010 .0010 .0010" filename="package://vica_robot/meshes/rplidar.stl" />
			</geometry>
		</collision>

		<inertial>
			<mass value="0.681" />
			<inertia ixx="0.89" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="0.89" />
		</inertial>

	</link>

	<joint name="r_wheel_joint" type="continuous">
		<parent link="base_link" />
		<child link="r_wheel" />
		<origin xyz="0 -0.15 0.0325" rpy="0 0 1.57079632679" />
	</joint>

	<transmission name="r_wheel_transmission">
		<type>transmission_interface/SimpleTransmission</type>
		<joint name="r_wheel_joint">
			<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
		</joint>
		<actuator name="r_wheel_actuator">
			<mechanicalReduction>7</mechanicalReduction>
			<hardwareInterface>VelocityJointInterface</hardwareInterface>
		</actuator>
  </transmission>

	<joint name="l_wheel_joint" type="continuous">
		<parent link="base_link" />
		<child link="l_wheel" />
		<origin xyz="0 0.15 0.0325" rpy="0 0 1.57079632679" />
	</joint>
	
	<transmission name="l_wheel_transmission">
		<type>transmission_interface/SimpleTransmission</type>
		<joint name="l_wheel_joint">
			<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
		</joint>
		<actuator name="l_wheel_actuator">
			<mechanicalReduction>7</mechanicalReduction>
			<hardwareInterface>VelocityJointInterface</hardwareInterface>
		</actuator>
	</transmission>

	<joint name="kinect_joint" type="fixed">
		<parent link="base_link" />
		<child link="kinect" />
		<origin xyz="0.055 -0.02 0.147" rpy="0 0 0" />
	</joint>

	<joint name="rplidar_joint" type="fixed">
		<parent link="base_link" />
		<child link="rplidar" />
		<origin xyz="-0.06 0.033 0.28" rpy="0 0 0" />
	</joint>
	
</robot>

robot.gazebo

<?xml version="1.0"?>
<robot>
	
	<!-- SENSOR -->
	<gazebo reference="kinect">
		<sensor type="depth" name="openni_camera_camera">
			<always_on>true</always_on>
			<visualize>true</visualize>
			<camera>
				<pose>0 0 1 0 0 0</pose>
				<horizontal_fov>1.047</horizontal_fov>
				<image>
					<width>640</width>
					<height>480</height>
					<format>R8G8B8</format>
				</image>
				<depth_camera>

				</depth_camera>
				<clip>
					<near>0.1</near>
					<far>100</far>
				</clip>
			</camera>
			<plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
				<alwaysOn>true</alwaysOn>
				<updateRate>40.0</updateRate>
				<cameraName>vica_robot/sensor/kinect</cameraName>
				<frameName>kinect_real_pos</frameName>
				<imageTopicName>rgb/image_raw</imageTopicName>
				<depthImageTopicName>depth/image_raw</depthImageTopicName>
				<pointCloudTopicName>depth/points</pointCloudTopicName>
				<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
				<depthImageCameraInfoTopicName>vica_robot/sensor/depth/camera_info
				</depthImageCameraInfoTopicName>
				<pointCloudCutoff>0.4</pointCloudCutoff>
				<hackBaseline>0.07</hackBaseline>
				<distortionK1>0.0</distortionK1>
				<distortionK2>0.0</distortionK2>
				<distortionK3>0.0</distortionK3>
				<distortionT1>0.0</distortionT1>
				<distortionT2>0.0</distortionT2>
				<CxPrime>0.0</CxPrime>
				<Cx>0.0</Cx>
				<Cy>0.0</Cy>
				<focalLength>0.0</focalLength>
			</plugin>
		</sensor>
	</gazebo>


	<!-- RPLIDAR  -->
	<gazebo reference="rplidar">
		<sensor type="gpu_ray" name="rplidar_laser">
			<visualize>false</visualize>
			<pose>0 0 0 0 0 0</pose>
			<update_rate>40</update_rate>
			<ray>
				<scan>
					<horizontal>
						<samples>720</samples>
						<resolution>1</resolution>
						<min_angle>-3.14159265359</min_angle>
						<max_angle>3.14159265359</max_angle>
					</horizontal>
				</scan>
				<range>
					<min>0.10</min>
					<max>5.0</max>
					<resolution>0.01</resolution>
				</range>
				<noise>
					<type>gaussian</type>
					<mean>0.0</mean>
					<stddev>0.01</stddev>
				</noise>
				
			</ray>
			<plugin name="hokuyo_node" filename="libgazebo_ros_gpu_laser.so">
				<alwaysOn>true</alwaysOn>
				<topicName>/vica_robot/sensor/laser/scan</topicName>
				<frameName>/rplidar_real_pos</frameName>
			</plugin>
			
		</sensor>
	</gazebo>
  
	<gazebo>
		<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
			<legacyModeNS>true</legacyModeNS>
		</plugin>
	</gazebo>
</robot>