353 lines
12 KiB
XML
353 lines
12 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from src/pioneer_description/urdf/pioneer3dx.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="pioneer3dx" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
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<!--<include filename="$(find amr_robots_description)/urdf/materials.xacro"/>-->
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<!-- Chassis -->
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<link name="base_link">
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<inertial>
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<mass value="3.5"/>
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<!--<origin xyz="-0.025 0 -0.223"/>-->
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<origin xyz="0 0 0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="-0.045 0 0.148"/>
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<geometry name="pioneer_geom">
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<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/chassis.stl"/>
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</geometry>
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<material name="ChassisRed">
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<color rgba="0.851 0.0 0.0 1.0"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.01 0.01 0.01"/>
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</geometry>
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</collision>
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</link>
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<link name="top_plate">
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<inertial>
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<mass value="0.01"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry name="pioneer_geom">
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<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/top.stl"/>
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</geometry>
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<material name="TopBlack">
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<color rgba="0.038 0.038 0.038 1.0"/>
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</material>
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</visual>
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</link>
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<gazebo reference="top_plate">
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<!-- material value="Gazebo/Black"/ -->
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<material>Gazebo/Black</material>
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</gazebo>
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<joint name="base_top_joint" type="fixed">
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<origin rpy="0 0 0" xyz="-0.045 0 0.234"/>
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<axis xzy="0 0 1"/>
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<parent link="base_link"/>
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<child link="top_plate"/>
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</joint>
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<link name="front_sonar">
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<inertial>
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<mass value="0.0001"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry name="pioneer_geom">
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<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/front_sonar.stl"/>
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</geometry>
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<material name="SonarYellow">
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<color rgba="0.715 0.583 0.210 1.0"/>
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</material>
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</visual>
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</link>
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<gazebo reference="front_sonar">
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<material value="Gazebo/Yellow"/>
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</gazebo>
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<joint name="base_front_joint" type="fixed">
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<origin rpy="0 0 0" xyz="-0.198 0 0.208"/>
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<parent link="base_link"/>
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<child link="front_sonar"/>
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</joint>
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<joint name="base_back_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.109 0 0.209"/>
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<parent link="base_link"/>
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<child link="back_sonar"/>
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</joint>
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<link name="back_sonar">
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<inertial>
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<mass value="0"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry name="pioneer_geom">
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<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/back_sonar.stl"/>
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</geometry>
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<material name="SonarYellow">
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<color rgba="0.715 0.583 0.210 1.0"/>
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</material>
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</visual>
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</link>
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<!-- Caster -->
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<joint name="base_caster_swivel_joint" type="continuous">
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<origin rpy="0 0 0" xyz="-0.185 0 0.055"/>
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<anchor xyz="0 0 0"/>
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<limit effort="100" k_velocity="0" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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<parent link="base_link"/>
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<child link="caster_swivel"/>
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</joint>
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<link name="caster_swivel">
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry name="pioneer_geom">
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<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/caster_swivel.stl"/>
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</geometry>
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<material name="caster_swivel">
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<color rgba="0.5 0.5 0.5 1"/>
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</material>
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</visual>
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</link>
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<gazebo reference="caster_swivel">
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<material value="Gazebo/Grey"/>
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</gazebo>
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<!-- Center Wheel + Hubcap -->
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<link name="caster_hubcap">
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<inertial>
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<mass value="0.01"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry name="pioneer_geom">
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<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/caster_hubcap.stl"/>
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</geometry>
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<material name="caster_swivel">
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<color rgba="0.5 0.5 0.5 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.05 0.05 0.05"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="caster_hubcap">
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<material value="Gazebo/Grey"/>
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</gazebo>
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<joint name="caster_swivel_hubcap_joint" type="continuous">
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<origin rpy="0 0 0" xyz="-0.026 0 -0.016"/>
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<axis xyz="0 1 0"/>
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<anchor xyz="0 0 0"/>
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<limit effort="100" k_velocity="0" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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<parent link="caster_swivel"/>
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<child link="caster_wheel"/>
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</joint>
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<link name="caster_wheel">
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry name="pioneer_geom">
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<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/caster_wheel.stl"/>
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</geometry>
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<material name="WheelBlack">
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<color rgba="0.117 0.117 0.117 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
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<geometry>
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<!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
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<cylinder length="0.01" radius="0.0375"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="left_hub">
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<material value="Gazebo/Yellow"/>
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</gazebo>
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<joint name="caster_wheel_joint" type="fixed">
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<origin rpy="0 0 0" xyz="-0.0035 0 -0.001"/>
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<parent link="caster_wheel"/>
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<child link="caster_hubcap"/>
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</joint>
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<link name="left_hub">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/left_hubcap.stl"/>
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</geometry>
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<material name="HubcapYellow">
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<color rgba="1.0 0.811 0.151 1.0"/>
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</material>
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</visual>
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<collision>
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<origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
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<geometry>
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<!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
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<cylinder length="0.01" radius="0.09"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hub_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0.15 0.08"/>
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<parent link="base_link"/>
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<child link="left_hub"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="left_wheel">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/left_wheel.stl"/>
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</geometry>
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<material name="WheelBlack">
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<color rgba="0.117 0.117 0.117 1"/>
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</material>
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</visual>
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</link>
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<joint name="left_wheel_joint" type="continuous">
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<!-- type="continuous" -->
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="left_hub"/>
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<child link="left_wheel"/>
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</joint>
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<gazebo reference="left_wheel_joint">
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<material value="Gazebo/Black"/>
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</gazebo>
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<link name="right_hub">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/right_hubcap.stl"/>
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</geometry>
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<material name="HubcapYellow">
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<color rgba="1.0 0.811 0.151 1.0"/>
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</material>
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</visual>
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<collision>
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<origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
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<geometry>
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<!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
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<cylinder length="0.01" radius="0.09"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="right_hub">
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<material value="Gazebo/Yellow"/>
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</gazebo>
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<joint name="right_hub_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 -0.15 0.08"/>
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<parent link="base_link"/>
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<child link="right_hub"/>
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<axis xyz="0 1 0"/>
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</joint>
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<link name="right_wheel">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/right_wheel.stl"/>
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</geometry>
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<material name="WheelBlack">
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<color rgba="0.117 0.117 0.117 1"/>
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</material>
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</visual>
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</link>
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<joint name="right_wheel_joint" type="continuous">
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<!-- type="continuous" -->
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="right_hub"/>
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<child link="right_wheel"/>
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</joint>
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<gazebo reference="right_wheel_joint">
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<material value="Gazebo/Black"/>
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</gazebo>
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<link name="laser">
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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</collision>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/hokuyo_convex.stl"/>
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</geometry>
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<material name="Hokuyo">
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<color rgba="0 0 0 1"/>
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</material>
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</visual>
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<inertial>
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<mass value="1e-5"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
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</inertial>
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</link>
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<joint name="hokuyo_joint" type="fixed">
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<axis xyz="0 0 0"/>
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<origin rpy="0 0 0" xyz="0.040 0 0.0625"/>
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<parent link="front_sonar"/>
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<child link="laser"/>
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</joint>
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<link name="camera_frame">
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.095 0.03 0.03"/>
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</geometry>
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</collision>
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</link>
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<joint name="camera_joint" type="fixed">
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<axis xyz="0 0 0"/>
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<origin rpy="0 0 0" xyz="0.040 0 0.1125"/>
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<parent link="front_sonar"/>
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<child link="camera_frame"/>
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</joint>
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<create>
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<back_sonar parent="base_link"/>
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<top_plate parent="base_link"/>
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</create>
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<gazebo>
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<plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
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<alwaysOn>true</alwaysOn>
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<updateRate>100</updateRate>
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<leftJoint>left_wheel_joint</leftJoint>
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<rightJoint>right_wheel_joint</rightJoint>
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<wheelSeparation>0.158</wheelSeparation>
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<wheelDiameter>0.12</wheelDiameter>
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<torque>5</torque>
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<!-- interface:position name="position_iface_0"/ -->
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<commandTopic>cmd_vel</commandTopic>
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<robotBaseFrame>base_link</robotBaseFrame>
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<odometryTopic>odom</odometryTopic>
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<odometryFrame>odom</odometryFrame>
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</plugin>
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<!-- TODO include P3D (ground truth) plugin -->
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<!-- XXX old urdf included a gazebo_ros_controller_manager plugin with a 1 second update rate -->
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</gazebo>
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</robot>
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