Revision 4421bfa5
gazebo doesn't work yet.
buggygazebo/load_models.bash | ||
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# Load the files into |
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cp -r * ~/.gazebo/models/ |
buggygazebo/tricycle/model.xml | ||
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<?xml version='1.0'?> |
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<sdf version='1.4'> |
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<model name="buggytry1"> |
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<static>true</static> |
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<link name='chassis'> |
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<pose>0 0 .1 0 0 0</pose> |
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<collision name='collision'> |
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<geometry> |
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<box> |
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<size>.4 .2 .1</size> |
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</box> |
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</geometry> |
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</collision> |
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<visual name='visual'> |
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<geometry> |
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<box> |
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<size>.4 .2 .1</size> |
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</box> |
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</geometry> |
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</visual> |
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<collision name='caster_collision'> |
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<pose>-0.15 0 -0.05 0 0 0</pose> |
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<geometry> |
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<sphere> |
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<radius>.05</radius> |
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</sphere> |
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</geometry> |
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<surface> |
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<friction> |
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<ode> |
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<mu>0</mu> |
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<mu2>0</mu2> |
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<slip1>1.0</slip1> |
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<slip2>1.0</slip2> |
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</ode> |
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</friction> |
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</surface> |
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</collision> |
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<visual name='caster_visual'> |
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<pose>-0.15 0 -0.05 0 0 0</pose> |
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<geometry> |
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<sphere> |
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<radius>.05</radius> |
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</sphere> |
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</geometry> |
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</visual> |
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</link> |
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<link name="left_wheel"> |
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<pose>0.1 0.13 0.1 0 1.5707 1.5707</pose> |
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<collision name="collision"> |
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<geometry> |
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<cylinder> |
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<radius>.1</radius> |
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<length>.05</length> |
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</cylinder> |
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</geometry> |
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</collision> |
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<visual name="visual"> |
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<geometry> |
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<cylinder> |
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<radius>.1</radius> |
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<length>.05</length> |
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</cylinder> |
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</geometry> |
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</visual> |
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</link> |
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<link name="right_wheel"> |
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<pose>0.1 -0.13 0.1 0 1.5707 1.5707</pose> |
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<collision name="collision"> |
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<geometry> |
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<cylinder> |
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<radius>.1</radius> |
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<length>.05</length> |
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</cylinder> |
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</geometry> |
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</collision> |
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<visual name="visual"> |
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<geometry> |
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<cylinder> |
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<radius>.1</radius> |
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<length>.05</length> |
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</cylinder> |
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</geometry> |
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</visual> |
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</link> |
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<joint type="revolute" name="left_wheel_hinge"> |
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<pose>0 0 -0.03 0 0 0</pose> |
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<child>left_wheel</child> |
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<parent>chassis</parent> |
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<axis> |
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<xyz>0 1 0</xyz> |
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</axis> |
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</joint> |
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<joint type="revolute" name="right_wheel_hinge"> |
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<pose>0 0 0.03 0 0 0</pose> |
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<child>right_wheel</child> |
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<parent>chassis</parent> |
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<axis> |
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<xyz>0 1 0</xyz> |
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</axis> |
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</joint> |
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</model> |
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</sdf> |
buggygazebo/tricycle/tricycle.config | ||
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<?xml version="1.0"?> |
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<model> |
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<name>My Robot</name> |
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<version>1.0</version> |
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<sdf version='1.4'>model.sdf</sdf> |
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<author> |
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<name>My Name</name> |
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<email>me@my.email</email> |
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</author> |
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<description> |
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My awesome robot. |
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</description> |
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</model> |
runme.bash | ||
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# This script copies the files into the model folder |
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# it does not talk to ROS. |
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