PX4-Autopilot/Tools/simulation/gz/models/rover_ackermann/model.sdf

<?xml version="1.0" ?>
<sdf version="1.6">
  <model name='rover_ackermann'>
    <!--Links-->
   <link name='base_link'>
      <pose relative_to='__model__'>0 0 0.1 0 0 0</pose>
      <inertial>
        <mass>20.0</mass>
        <inertia>
          <ixx>0.4333</ixx>
          <ixy>0.0</ixy>
          <ixz>0.0</ixz>
          <iyy>1.6833</iyy>
          <iyz>0.0</iyz>
          <izz>2.0833</izz>
        </inertia>
      </inertial>
      <visual name='visual'>
        <pose>0 0 -0.05 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://rover_ackermann/meshes/rover_ackermann_base.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name='collision'>
        <geometry>
          <box>
            <size>1 0.5 0.1</size>
          </box>
        </geometry>
      </collision>

      <!--Sensors-->
      <sensor name="air_pressure_sensor" type="air_pressure">
        <always_on>1</always_on>
        <update_rate>50</update_rate>
        <air_pressure>
          <!-- Noise modeled after BMP390 -->
          <pressure>
            <noise type="gaussian">
              <mean>0</mean>
              <stddev>3</stddev>
            </noise>
          </pressure>
        </air_pressure>
      </sensor>
      <sensor name="magnetometer_sensor" type="magnetometer">
        <always_on>1</always_on>
        <update_rate>100</update_rate>
        <magnetometer>
          <!-- TODO: update to fix units and coordinate system when we move past Harmonic -->
          <!-- See https://github.com/gazebosim/gz-sim/pull/2460 -->
          <!-- 3mgauss RMS: NOTE: noise is in tesla but sensor reports data in gauss -->
          <!-- Noise modeled after IIS2MDC -->
          <x>
            <noise type="gaussian">
              <stddev>0.0001</stddev>
            </noise>
          </x>
          <y>
            <noise type="gaussian">
              <stddev>0.0001</stddev>
            </noise>
          </y>
          <z>
            <noise type="gaussian">
              <stddev>0.0001</stddev>
            </noise>
          </z>
        </magnetometer>
      </sensor>
      <sensor name="imu_sensor" type="imu">
        <always_on>1</always_on>
        <update_rate>250</update_rate>
        <imu>
          <angular_velocity>
            <!-- Noise modeled after IIM42653 -->
            <!-- 0.05 deg/s converted to rad/s -->
            <x>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>0.0008726646</stddev>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>0.0008726646</stddev>
              </noise>
            </y>
            <z>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>0.0008726646</stddev>
              </noise>
            </z>
          </angular_velocity>
          <linear_acceleration>
            <!-- Noise modeled after IIM42653 -->
            <!-- X & Y axis: 0.65 mg-rms converted to m/ss -->
            <x>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>0.00637</stddev>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>0.00637</stddev>
              </noise>
            </y>
            <!-- Z axis: 0.70 mg-rms converted to m/ss-->
            <z>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>0.00686</stddev>
              </noise>
            </z>
          </linear_acceleration>
        </imu>
      </sensor>
      <sensor name="navsat_sensor" type="navsat">
        <always_on>1</always_on>
        <update_rate>30</update_rate>
      </sensor>
    </link>

    <link name='wheel_rear_left_link'>
      <pose relative_to="base_link">-0.25 0.3 0 -1.5707 0 0</pose>
      <inertial>
        <mass>0.5</mass>
        <inertia>
          <ixx>0.000807292</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000807292</iyy>
          <iyz>0</iyz>
          <izz>0.00140625</izz>
        </inertia>
      </inertial>
      <visual name='visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://rover_ackermann/meshes/rover_ackermann_wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name='collision'>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>2.0</mu>
              <mu2>2.0</mu2>
              <fdir1>1 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
    </link>

    <link name='wheel_rear_right_link'>
      <pose relative_to="base_link">-0.25 -0.3 0 -1.5707 0 0</pose>
      <inertial>
        <mass>0.5</mass>
        <inertia>
          <ixx>0.000807292</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000807292</iyy>
          <iyz>0</iyz>
          <izz>0.00140625</izz>
        </inertia>
      </inertial>
      <visual name='visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://rover_ackermann/meshes/rover_ackermann_wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name='collision'>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>2.0</mu>
              <mu2>2.0</mu2>
              <fdir1>1 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
    </link>

    <link name='wheel_front_link'>
      <pose relative_to="base_link">0.25 0 0 -1.5707 0 0</pose>
      <inertial>
        <mass>0.5</mass>
        <inertia>
          <ixx>0.000807292</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000807292</iyy>
          <iyz>0</iyz>
          <izz>0.00140625</izz>
        </inertia>
      </inertial>
      <collision name='collision'>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>2.0</mu>
              <mu2>2.0</mu2>
              <fdir1>1 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
      <velocity_decay/>
    </link>

    <link name="wheel_front_steering_link">
      <pose relative_to="wheel_front_link">0 0 0 0 0 0</pose>
      <inertial>
        <mass>0.005</mass>
        <inertia>
          <ixx>0.0000018</ixx>
          <iyy>0.0000018</iyy>
          <izz>0.0000018</izz>
        </inertia>
      </inertial>
    </link>

    <!-- Joints -->
    <joint name='wheel_rear_left_joint' type='revolute'>
      <pose relative_to='wheel_rear_left_link'/>
      <parent>base_link</parent>
      <child>wheel_rear_left_link</child>
      <axis>
        <xyz expressed_in='__model__'>0 1 0</xyz>
      </axis>
    </joint>

    <joint name='wheel_rear_right_joint' type='revolute'>
      <pose relative_to='wheel_rear_right_link'/>
      <parent>base_link</parent>
      <child>wheel_rear_right_link</child>
      <axis>
        <xyz expressed_in='__model__'>0 1 0</xyz>
      </axis>
    </joint>

    <joint name="wheel_front_steering_joint" type="revolute">
      <parent>base_link</parent>
      <child>wheel_front_steering_link</child>
      <pose relative_to="wheel_front_steering_link">0 0 0 0 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-0.5236</lower>
          <upper>0.5236</upper>
        </limit>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <joint name='wheel_front_joint' type='revolute'>
      <pose relative_to='wheel_front_link'/>
      <parent>wheel_front_steering_link</parent>
      <child>wheel_front_link</child>
      <axis>
        <xyz expressed_in='__model__'>0 1 0</xyz>
      </axis>
    </joint>

    <!-- Visual Only -->

    <link name='wheel_front_left_link'>
      <pose relative_to="base_link">0.25 0.3 0 -1.5707 0 0</pose>
      <inertial>
        <mass>0.5</mass>
        <inertia>
          <ixx>0.000807292</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000807292</iyy>
          <iyz>0</iyz>
          <izz>0.00140625</izz>
        </inertia>
      </inertial>
      <visual name='visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://rover_ackermann/meshes/rover_ackermann_wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay/>
      <gravity>0</gravity>
    </link>

    <link name='wheel_front_right_link'>
      <pose relative_to="base_link">0.25 -0.3 0 -1.5707 0 0</pose>
      <inertial>
        <mass>0.5</mass>
        <inertia>
          <ixx>0.000807292</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000807292</iyy>
          <iyz>0</iyz>
          <izz>0.00140625</izz>
        </inertia>
      </inertial>
      <visual name='visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://rover_ackermann/meshes/rover_ackermann_wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay/>
      <gravity>0</gravity>
    </link>

    <link name="wheel_front_left_steering_link">
      <pose relative_to="wheel_front_left_link">0 0 0 0 0 0</pose>
      <inertial>
        <mass>0.005</mass>
        <inertia>
          <ixx>0.0000018</ixx>
          <iyy>0.0000018</iyy>
          <izz>0.0000018</izz>
        </inertia>
      </inertial>
      <velocity_decay/>
      <gravity>0</gravity>
    </link>

    <link name="wheel_front_right_steering_link">
      <pose relative_to="wheel_front_right_link">0 0 0 0 0 0</pose>
      <inertial>
        <mass>0.005</mass>
        <inertia>
          <ixx>0.0000018</ixx>
          <iyy>0.0000018</iyy>
          <izz>0.0000018</izz>
        </inertia>
      </inertial>
      <velocity_decay/>
      <gravity>0</gravity>
    </link>

    <joint name="wheel_front_left_steering_joint" type="revolute">
      <parent>base_link</parent>
      <child>wheel_front_left_steering_link</child>
      <pose relative_to="wheel_front_left_steering_link">0 0 0 0 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-0.5236</lower>
          <upper>0.5236</upper>
        </limit>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <joint name="wheel_front_right_steering_joint" type="revolute">
      <parent>base_link</parent>
      <child>wheel_front_right_steering_link</child>
      <pose relative_to="wheel_front_right_steering_link">0 0 0 0 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-0.5236</lower>
          <upper>0.5236</upper>
        </limit>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <joint name='wheel_front_left_joint' type='revolute'>
      <pose relative_to='wheel_front_left_link'/>
      <parent>wheel_front_left_steering_link</parent>
      <child>wheel_front_left_link</child>
      <axis>
        <xyz expressed_in='__model__'>0 1 0</xyz>
      </axis>
    </joint>

    <joint name='wheel_front_right_joint' type='revolute'>
      <pose relative_to='wheel_front_right_link'/>
      <parent>wheel_front_right_steering_link</parent>
      <child>wheel_front_right_link</child>
      <axis>
        <xyz expressed_in='__model__'>0 1 0</xyz>
      </axis>
    </joint>

    <!--Plugins-->
    <plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
      <joint_name>wheel_rear_left_joint</joint_name>
      <sub_topic>command/motor_speed</sub_topic>
      <control_type>velocity</control_type>
      <use_actuator_msg>true</use_actuator_msg>
      <actuator_number>0</actuator_number>
    </plugin>

    <plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
      <joint_name>wheel_rear_right_joint</joint_name>
      <sub_topic>command/motor_speed</sub_topic>
      <control_type>velocity</control_type>
      <use_actuator_msg>true</use_actuator_msg>
      <actuator_number>0</actuator_number>
    </plugin>

    <plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
      <joint_name>wheel_front_right_joint</joint_name>
      <sub_topic>command/motor_speed</sub_topic>
      <control_type>velocity</control_type>
      <use_actuator_msg>true</use_actuator_msg>
      <actuator_number>0</actuator_number>
    </plugin>

    <plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
      <joint_name>wheel_front_left_joint</joint_name>
      <sub_topic>command/motor_speed</sub_topic>
      <control_type>velocity</control_type>
      <use_actuator_msg>true</use_actuator_msg>
      <actuator_number>0</actuator_number>
    </plugin>

    <plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>wheel_front_steering_joint</joint_name>
      <sub_topic>servo_0</sub_topic>
      <p_gain>100</p_gain>
      <i_gain>10</i_gain>
      <d_gain>0</d_gain>
    </plugin>

    <plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>wheel_front_left_steering_joint</joint_name>
      <sub_topic>servo_0</sub_topic>
      <p_gain>1</p_gain>
      <i_gain>1</i_gain>
      <d_gain>0.5</d_gain>
    </plugin>

    <plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>wheel_front_right_steering_joint</joint_name>
      <sub_topic>servo_0</sub_topic>
      <p_gain>1</p_gain>
      <i_gain>1</i_gain>
      <d_gain>0.5</d_gain>
    </plugin>

    <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
      <joint_name>wheel_rear_left_joint</joint_name>
      <joint_name>wheel_rear_right_joint</joint_name>
      <joint_name>wheel_front_joint</joint_name>
      <joint_name>wheel_front_steering_joint</joint_name>
      <joint_name>wheel_front_left_joint</joint_name>
      <joint_name>wheel_front_right_joint</joint_name>
      <joint_name>wheel_front_right_steering_joint</joint_name>
      <joint_name>wheel_front_left_steering_joint</joint_name>
    </plugin>
  </model>
</sdf>