autonomos_model.sdf

<sdf version='1.4'>
  <model name='autonomos'>
    <link name='base_link'>
      <pose>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0.00240869 0 0.0305585 0 -0 0</pose>
        <mass>0.7307</mass>
        <inertia>
          <ixx>0.612582</ixx>
          <ixy>0</ixy>
          <ixz>0.000185087</ixz>
          <iyy>0.61286</iyy>
          <iyz>0</iyz>
          <izz>0.611286</izz>
        </inertia>
      </inertial>
      <collision name='base_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.4 0.15 0.095</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_link_collision_base_link_1'>
        <pose>0.06 -0.074 0.065 0 -0.385398 0.2</pose>
        <geometry>
          <box>
            <size>0.022 0.001 0.08</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_link_collision_base_link_2'>
        <pose>0.06 0.074 0.065 0 -0.385398 0.2</pose>
        <geometry>
          <box>
            <size>0.022 0.001 0.08</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_link_collision_base_link_3'>
        <pose>-0.115 0.074 0.065 1.66502e-17 0.585398 0.2</pose>
        <geometry>
          <box>
            <size>0.042 0.001 0.08</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_link_collision_base_link_4'>
        <pose>-0.115 -0.074 0.065 -1.66502e-17 0.585398 -0.2</pose>
        <geometry>
          <box>
            <size>0.042 0.001 0.08</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_link_collision_base_link_5'>
        <pose>-0.035 0 0.11 1.57 -0 0</pose>
        <geometry>
          <box>
            <size>0.17 0.01 0.15</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_link_collision_front_link'>
        <pose>0.16 0 -0.05 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.15 0.005</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_link_collision_laser_link'>
        <pose>0 0 0.07 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='base_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.4 0.15 0.095</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Blue</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='base_link_visual_base_link_1'>
        <pose>0.06 -0.075 0.065 0 -0.385398 0.2</pose>
        <geometry>
          <box>
            <size>0.022 0.001 0.08</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Blue</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='base_link_visual_base_link_2'>
        <pose>0.06 0.074 0.065 0 -0.385398 -0.2</pose>
        <geometry>
          <box>
            <size>0.022 0.001 0.08</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Blue</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='base_link_visual_base_link_3'>
        <pose>-0.115 0.074 0.07 1.66502e-17 0.585398 0.2</pose>
        <geometry>
          <box>
            <size>0.042 0.001 0.08</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Blue</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='base_link_visual_base_link_4'>
        <pose>-0.115 -0.074 0.07 -1.66502e-17 0.585398 -0.2</pose>
        <geometry>
          <box>
            <size>0.042 0.001 0.08</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Blue</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='base_link_visual_base_link_5'>
        <pose>-0.035 0 0.11 1.57 -0 0</pose>
        <geometry>
          <box>
            <size>0.17 0.01 0.15</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Blue</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='base_link_visual_front_link'>
        <pose>0.16 0 -0.05 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.15 0.005</size>
          </box>
        </geometry>
      </visual>
      <visual name='base_link_visual_laser_link'>
        <pose>0 0 0.07 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.05</length>
            <radius>0.025</radius>
          </cylinder>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Green</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <self_collide>0</self_collide>
      <sensor name='laser' type='ray'>
        <ray>
          <scan>
            <horizontal>
              <samples>360</samples>
              <resolution>1</resolution>
              <min_angle>0</min_angle>
              <max_angle>6.28319</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.08</min>
            <max>3</max>
            <resolution>0.01</resolution>
          </range>
        </ray>
        <plugin name='laser' filename='libgazebo_ros_laser.so'>
          <robotNamespace>autonomos</robotNamespace>
          <topicName>/scan</topicName>
          <frameName>map</frameName>
        </plugin>
        <always_on>1</always_on>
        <update_rate>1</update_rate>
        <visualize>1</visualize>
        <pose>0 0 0.07 0 -0 0</pose>
      </sensor>
    </link>
    <link name='back_left_wheel_link'>
      <pose>-0.16 0.1 -0.05 1.57 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.001</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='back_left_wheel_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.02</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='back_left_wheel_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.02</radius>
          </cylinder>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Green</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</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 -1 0.000796327</xyz>
        <limit>
          <lower>-3.14</lower>
          <upper>3.14</upper>
          <effort>300</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics/>
      </axis>
    </joint>
    <link name='back_right_wheel_link'>
      <pose>-0.16 -0.1 -0.05 1.57 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.001</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='back_right_wheel_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.02</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='back_right_wheel_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.02</radius>
          </cylinder>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Green</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</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 -1 0.000796327</xyz>
        <limit>
          <lower>-3.14</lower>
          <upper>3.14</upper>
          <effort>300</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics/>
      </axis>
    </joint>
    <link name='front_left_bar_link'>
      <pose>0.14 0.06 -0.05 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.001</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='front_left_bar_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.04 0.02 0.005</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='front_left_bar_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.04 0.02 0.005</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Red</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</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 0 1</xyz>
        <limit>
          <lower>-0.5</lower>
          <upper>0.5</upper>
          <effort>300</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics/>
      </axis>
    </joint>
    <link name='ackermann_bar_link'>
      <pose>0.12 0 -0.05 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.001</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='ackermann_bar_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.15 0.01</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='ackermann_bar_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.15 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Red</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <self_collide>0</self_collide>
    </link>
    <joint name='ackermann_left_bar_joint' type='revolute'>
      <child>ackermann_bar_link</child>
      <parent>front_left_bar_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>300</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics/>
      </axis>
    </joint>
    <link name='front_left_wheel_link'>
      <pose>0.14 0.1 -0.05 1.57 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.001</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='front_left_wheel_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.02</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='front_left_wheel_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.02</radius>
          </cylinder>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Green</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</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 -1 0.000796327</xyz>
        <limit>
          <lower>-3.14</lower>
          <upper>3.14</upper>
          <effort>300</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics/>
      </axis>
    </joint>
    <link name='front_right_bar_link'>
      <pose>0.14 -0.06 -0.05 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.001</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='front_right_bar_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.04 0.02 0.005</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='front_right_bar_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.04 0.02 0.005</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Red</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</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 0 1</xyz>
        <limit>
          <lower>-0.5</lower>
          <upper>0.5</upper>
          <effort>300</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics/>
      </axis>
    </joint>
    <link name='front_right_wheel_link'>
      <pose>0.14 -0.1 -0.05 1.57 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.001</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='front_right_wheel_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.02</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='front_right_wheel_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.02</radius>
          </cylinder>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Green</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</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 -1 0.000796327</xyz>
        <limit>
          <lower>-3.14</lower>
          <upper>3.14</upper>
          <effort>300</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics/>
      </axis>
    </joint>
    <link name='steer_link'>
      <pose>0.14 0 -0.05 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.001</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='steer_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.04 0.02 0.005</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='steer_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.04 0.02 0.005</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Red</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</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 0 1</xyz>
        <limit>
          <lower>-0.5</lower>
          <upper>0.5</upper>
          <effort>300</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics/>
      </axis>
    </joint>
    <link name='ackermann_bar_link'>
      <pose>0.12 -0.06 -0.05 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.001</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='ackermann_bar_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.15 0.01</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='ackermann_bar_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.15 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Red</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
      <self_collide>0</self_collide>
    </link>
    <joint name='ackermann_left_bar_joint' type='revolute'>
      <child>ackermann_bar_link</child>
      <parent>front_left_bar_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>300</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics/>
      </axis>
    </joint>
  </model>
</sdf>