gazebo.xacro

<?xml version="1.0" ?>
<robot name="zinger" xmlns:xacro="http://www.ros.org/wiki/xacro" >

    <!--
        GAZEBO MACROS
    -->
    <!--
        Define Gazebo specific macro's here because this file isn't included if we're not running
        Gazebo
    -->
    <xacro:macro name="gazebo_reference_link_wheel" params="name">
        <gazebo reference="link_wheel_${name}">
            <mu1>0.9</mu1>
            <mu2>0.9</mu2>
            <kp>500000.0</kp>
            <kd>10.0</kd>
            <minDepth>0.001</minDepth>
            <maxVel>0.1</maxVel>
            <fdir1>1 0 0</fdir1>
            <selfCollide>true</selfCollide>
        </gazebo>
    </xacro:macro>

    <!-- Sensors -->

    <xacro:macro name="gazebo_sensor_imu" params="name update_rate:=25" >
        <gazebo reference="link_sensor_imu_${name}">
            <sensor name="${name}" type="imu">
                <ignition_frame_id>link_sensor_imu_${name}</ignition_frame_id>
                <always_on>true</always_on>
                <update_rate>${update_rate}</update_rate>
                <imu>
                    <angular_velocity>
                    <x>
                        <noise type="gaussian">
                        <mean>0.0</mean>
                        <stddev>0.0</stddev>
                        </noise>
                    </x>
                    <y>
                        <noise type="gaussian">
                        <mean>0.0</mean>
                        <stddev>0.0</stddev>
                        </noise>
                    </y>
                    <z>
                        <noise type="gaussian">
                        <mean>0.0</mean>
                        <stddev>0.0</stddev>
                        </noise>
                    </z>
                    </angular_velocity>
                    <linear_acceleration>
                    <x>
                        <noise type="gaussian">
                        <mean>0.0</mean>
                        <stddev>0.0</stddev>
                        </noise>
                    </x>
                    <y>
                        <noise type="gaussian">
                        <mean>0.0</mean>
                        <stddev>0.0</stddev>
                        </noise>
                    </y>
                    <z>
                        <noise type="gaussian">
                        <mean>0.0</mean>
                        <stddev>0.0</stddev>
                        </noise>
                    </z>
                    </linear_acceleration>
                </imu>
                <plugin
                        filename="libignition-gazebo-imu-system.so"
                        name="ignition::gazebo::systems::Imu">
                    <alwaysOn>true</alwaysOn>
                    <updateRate>25</updateRate>
                    <topic>imu</topic>
                    <imuName>imu_center</imuName>
                </plugin>
            </sensor>
        </gazebo>

        <gazebo reference="joint_body_to_sensor_imu_${name}">
            <preserveFixedJoint>true</preserveFixedJoint>
        </gazebo>
    </xacro:macro>

    <xacro:macro name="gazebo_sensor_rplidar" params="name" >
        <gazebo reference="link_sensor_lidar_${name}">
            <sensor name="${name}" type="gpu_lidar">
                <!--
                    Move the sensor up slightly from the bottom of the lidar unit.
                -->
                <pose>0 0 0.02 0 0 0</pose>
                <alwaysOn>true</alwaysOn>
                <topic>rplidar_front/scan</topic>
                <update_rate>25</update_rate>
                <lidarName>rplidar_front</lidarName>
                <visualize>true</visualize>
                <ignition_frame_id>link_sensor_lidar_${name}</ignition_frame_id>
                <ray>
                    <scan>
                        <horizontal>
                            <samples>640</samples>
                            <resolution>1.0</resolution>
                            <min_angle>${-pi}</min_angle>
                            <max_angle>${pi}</max_angle>
                        </horizontal>
                        <vertical>
                            <samples>1</samples>
                            <resolution>1</resolution>
                            <min_angle>0</min_angle>
                            <max_angle>0</max_angle>
                        </vertical>
                    </scan>
                    <range>
                        <min>0.164</min>
                        <max>12.0</max>
                        <resolution>0.01</resolution>
                    </range>
                </ray>
                <plugin
                    filename="libignition-gazebo-sensors-system.so"
                    name="ignition::gazebo::systems::Sensors">
                    <render_engine>ogre2</render_engine>
                </plugin>
            </sensor>
        </gazebo>

        <gazebo reference="joint_body_to_sensor_lidar_${name}">
            <preserveFixedJoint>true</preserveFixedJoint>
        </gazebo>
    </xacro:macro>

    <!--
        GAZEBO
    -->
    <xacro:gazebo_reference_link_wheel name="left_front" />
    <xacro:gazebo_reference_link_wheel name="left_rear" />
    <xacro:gazebo_reference_link_wheel name="right_rear" />
    <xacro:gazebo_reference_link_wheel name="right_front" />

    <xacro:gazebo_sensor_imu name="imu_center" />
    <xacro:gazebo_sensor_rplidar name="rplidar_front" />

    <gazebo>
        <plugin
                filename="ign_ros2_control-system"
                name="ign_ros2_control::IgnitionROS2ControlPlugin">
            <parameters>$(find zinger_description)/config/zinger.yaml</parameters>
        </plugin>
    </gazebo>
    <gazebo>
         <plugin
                filename="libignition-gazebo-pose-publisher-system.so"
                name="ignition::gazebo::systems::PosePublisher">
            <publish_link_pose>true</publish_link_pose>
            <publish_sensor_pose>true</publish_sensor_pose>
            <publish_collision_pose>false</publish_collision_pose>
            <publish_visual_pose>false</publish_visual_pose>
            <publish_model_pose>true</publish_model_pose>
            <publish_nested_model_pose>true</publish_nested_model_pose>
            <use_pose_vector_msg>true</use_pose_vector_msg>
            <static_publisher>true</static_publisher>
            <static_update_frequency>-1</static_update_frequency>
        </plugin>
    </gazebo>
</robot>