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Revision 4421bfa5

ID4421bfa542f86a231eb36e3dd0cde67bb5ae5df2
Parent 2079926a
Child 0e182761

Added by Matthew Sebek about 10 years ago

gazebo doesn't work yet.

View differences:

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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