109 lines
2.6 KiB
XML
109 lines
2.6 KiB
XML
<?xml version='1.0'?>
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<sdf version='1.7'>
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<model name='Lewis_Crawler'>
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<link name='chassis'>
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<pose>-0.1524 -0.1 0.0508 0 0 0</pose>
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<visual name='visual'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>/home/joe/git/lewis-crawler/Simulation/Meshes/LCFrame.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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<material>
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<lighting>1</lighting>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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<shader type='pixel' />
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</material>
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<transparency>0</transparency>
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<cast_shadows>1</cast_shadows>
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</visual>
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<collision name='collision'>
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<laser_retro>0</laser_retro>
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<max_contacts>10</max_contacts>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>/home/joe/git/lewis-crawler/Simulation/Meshes/LCFrame.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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</collision>
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</link>
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<link name="port_wheel">
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<pose>0.1524 0 0.1016 0 1.5707 0</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="starboard_wheel">
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<pose>-0.1524 0 0.1016 0 1.5707 0</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="port_wheel" name="port_wheel_axle">
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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="starboard_wheel" name="starboard_wheel_axle">
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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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<static>0</static>
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<allow_auto_disable>1</allow_auto_disable>
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</model>
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</sdf> |