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  1. <?xml version="1.0" ?>
  2. <robot name="turtlebot3_burger" xmlns:xacro="http://r...content-available-to-author-only...s.org/wiki/xacro">
  3.   <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
  4.   <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro"/>
  5.   <xacro:property name="camera_link" value="0.015" /> <!-- Size of square 'camera' box -->
  6.  
  7.   <link name="base_footprint"/>
  8.  
  9.   <joint name="base_joint" type="fixed">
  10.     <parent link="base_footprint"/>
  11.     <child link="base_link"/>
  12.     <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
  13.   </joint>
  14.  
  15.   <link name="base_link">
  16.     <visual>
  17.       <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
  18.       <geometry>
  19.         <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
  20.       </geometry>
  21.       <material name="light_black"/>
  22.     </visual>
  23.  
  24.     <collision>
  25.       <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
  26.       <geometry>
  27.         <box size="0.140 0.140 0.143"/>
  28.       </geometry>
  29.     </collision>
  30.  
  31.     <inertial>
  32.       <origin xyz="0 0 0" rpy="0 0 0"/>
  33.       <mass value="8.2573504e-01"/>
  34.       <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
  35.                iyy="2.1193702e-03" iyz="-5.0120904e-06"
  36.                izz="2.0064271e-03" />
  37.     </inertial>
  38.   </link>
  39.  
  40.   <joint name="wheel_left_joint" type="continuous">
  41.     <parent link="base_link"/>
  42.     <child link="wheel_left_link"/>
  43.     <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
  44.     <axis xyz="0 0 1"/>
  45.   </joint>
  46.  
  47.   <link name="wheel_left_link">
  48.     <visual>
  49.       <origin xyz="0 0 0" rpy="1.57 0 0"/>
  50.       <geometry>
  51.         <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
  52.       </geometry>
  53.       <material name="dark"/>
  54.     </visual>
  55.  
  56.     <collision>
  57.       <origin xyz="0 0 0" rpy="0 0 0"/>
  58.       <geometry>
  59.         <cylinder length="0.018" radius="0.033"/>
  60.       </geometry>
  61.     </collision>
  62.  
  63.     <inertial>
  64.       <origin xyz="0 0 0" />
  65.       <mass value="2.8498940e-02" />
  66.       <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
  67.                iyy="1.1192413e-05" iyz="-1.4400107e-11"
  68.                izz="2.0712558e-05" />
  69.       </inertial>
  70.   </link>
  71.  
  72.   <joint name="wheel_right_joint" type="continuous">
  73.     <parent link="base_link"/>
  74.     <child link="wheel_right_link"/>
  75.     <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
  76.     <axis xyz="0 0 1"/>
  77.   </joint>
  78.  
  79.   <link name="wheel_right_link">
  80.     <visual>
  81.       <origin xyz="0 0 0" rpy="1.57 0 0"/>
  82.       <geometry>
  83.         <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
  84.       </geometry>
  85.       <material name="dark"/>
  86.     </visual>
  87.  
  88.     <collision>
  89.       <origin xyz="0 0 0" rpy="0 0 0"/>
  90.       <geometry>
  91.         <cylinder length="0.018" radius="0.033"/>
  92.       </geometry>
  93.     </collision>
  94.  
  95.     <inertial>
  96.       <origin xyz="0 0 0" />
  97.       <mass value="2.8498940e-02" />
  98.       <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
  99.                iyy="1.1192413e-05" iyz="-1.4400107e-11"
  100.                izz="2.0712558e-05" />
  101.       </inertial>
  102.   </link>
  103.  
  104.   <joint name="caster_back_joint" type="fixed">
  105.     <parent link="base_link"/>
  106.     <child link="caster_back_link"/>
  107.     <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
  108.   </joint>
  109.  
  110.   <link name="caster_back_link">
  111.     <collision>
  112.       <origin xyz="0 0.001 0" rpy="0 0 0"/>
  113.       <geometry>
  114.         <box size="0.030 0.009 0.020"/>
  115.       </geometry>
  116.     </collision>
  117.  
  118.     <inertial>
  119.       <origin xyz="0 0 0" />
  120.       <mass value="0.005" />
  121.       <inertia ixx="0.001" ixy="0.0" ixz="0.0"
  122.                iyy="0.001" iyz="0.0"
  123.                izz="0.001" />
  124.     </inertial>
  125.   </link>
  126.  
  127.   <joint name="imu_joint" type="fixed">
  128.     <parent link="base_link"/>
  129.     <child link="imu_link"/>
  130.     <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
  131.   </joint>
  132.  
  133.   <link name="imu_link"/>
  134.  
  135.   <joint name="scan_joint" type="fixed">
  136.     <parent link="base_link"/>
  137.     <child link="base_scan"/>
  138.     <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
  139.   </joint>
  140.  
  141.   <link name="base_scan">
  142.     <visual>
  143.       <origin xyz="0 0 0.0" rpy="0 0 0"/>
  144.       <geometry>
  145.         <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
  146.       </geometry>
  147.       <material name="dark"/>
  148.     </visual>
  149.  
  150.     <collision>
  151.       <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
  152.       <geometry>
  153.         <cylinder length="0.0315" radius="0.055"/>
  154.       </geometry>
  155.     </collision>
  156.  
  157.     <inertial>
  158.       <mass value="0.114" />
  159.       <origin xyz="0 0 0" />
  160.       <inertia ixx="0.001" ixy="0.0" ixz="0.0"
  161.                iyy="0.001" iyz="0.0"
  162.                izz="0.001" />
  163.     </inertial>
  164.   </link>
  165.  
  166.  
  167.   <joint name="camera_joint" type="fixed">
  168.     <origin xyz="0 0 0.189" rpy="0 0 0"/>
  169.     <parent link="base_link"/>
  170.     <child link="camera_link"/>
  171.   </joint>
  172.  
  173.   <!-- Camera -->
  174.   <link name="camera_link">
  175.     <collision>
  176.       <origin xyz="0 0 0" rpy="0 0 0"/>
  177.       <geometry>
  178.     <box size="${camera_link} ${camera_link} ${camera_link}"/>
  179.       </geometry>
  180.     </collision>
  181.  
  182.     <visual>
  183.       <origin xyz="0 0 0" rpy="0 0 0"/>
  184.       <geometry>
  185.     <box size="${camera_link} ${camera_link} ${camera_link}"/>
  186.       </geometry>
  187.       <material name="red"/>
  188.     </visual>
  189.  
  190.     <inertial>
  191.       <mass value="1e-5" />
  192.       <origin xyz="0 0 0" rpy="0 0 0"/>
  193.       <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
  194.     </inertial>
  195.   </link>
  196.  
  197.   <!-- camera -->
  198.   <gazebo reference="camera_link">
  199.     <sensor type="camera" name="camera1">
  200.       <update_rate>30.0</update_rate>
  201.       <camera name="head">
  202.         <horizontal_fov>1.3962634</horizontal_fov>
  203.         <image>
  204.           <width>304</width>
  205.           <height>228</height>
  206.           <format>R8G8B8</format>
  207.         </image>
  208.         <clip>
  209.           <near>0.02</near>
  210.           <far>300</far>
  211.         </clip>
  212.         <noise>
  213.           <type>gaussian</type>
  214.           <!-- Noise is sampled independently per pixel on each frame.
  215.                That pixel's noise value is added to each of its color
  216.                channels, which at that point lie in the range [0,1]. -->
  217.           <mean>0.0</mean>
  218.           <stddev>0.007</stddev>
  219.         </noise>
  220.       </camera>
  221.       <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
  222.         <alwaysOn>true</alwaysOn>
  223.         <updateRate>0.0</updateRate>
  224.         <cameraName>camera1</cameraName>
  225.         <imageTopicName>image_raw</imageTopicName>
  226.         <cameraInfoTopicName>camera_info</cameraInfoTopicName>
  227.         <frameName>camera_link</frameName>
  228.         <hackBaseline>0.07</hackBaseline>
  229.         <distortionK1>0.0</distortionK1>
  230.         <distortionK2>0.0</distortionK2>
  231.         <distortionK3>0.0</distortionK3>
  232.         <distortionT1>0.0</distortionT1>
  233.         <distortionT2>0.0</distortionT2>
  234.       </plugin>
  235.     </sensor>
  236.   </gazebo>
  237.  
  238.   <!-- bumper -->
  239.  
  240.   <joint name="bumper_joint" type="fixed">
  241.     <axis xyz="0 1 0" />
  242.     <origin xyz="0.05 0 0.02" rpy="0 0 0"/>
  243.     <parent link="base_link"/>
  244.     <child link="bump_sensor"/>
  245.   </joint>
  246.  
  247.   <link name="bump_sensor">
  248.     <collision name="bump_sensor_collision">
  249.       <origin xyz="0 0 0" rpy="0 0 0"/>
  250.       <geometry>
  251.         <box size="0.05 0.05 0.05"/>
  252.       </geometry>
  253.     </collision>
  254.  
  255.     <visual>
  256.       <origin xyz="0 0 0" rpy="0 0 0"/>
  257.       <geometry>
  258.          <box size="0.05 0.05 0.05"/>
  259.       </geometry>
  260.     </visual>
  261.  
  262.     <inertial>
  263.       <mass value="1e-5" />
  264.       <origin xyz="0 0 0" rpy="0 0 0"/>
  265.       <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
  266.     </inertial>
  267.   </link>
  268.  
  269.     <gazebo reference="bump_sensor">
  270.     <sensor name="main_bumper" type="contact">
  271.         <contact>
  272.             <collision>base_footprint_fixed_joint_lump__bump_sensor_collision_collision_1</collision>
  273.         </contact>
  274.         <plugin name="gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
  275.             <bumperTopicName>bumper_vals</bumperTopicName>
  276.             <frameName>world</frameName>
  277.         </plugin>
  278.     </sensor>
  279.     </gazebo>
  280.  
  281.  
  282. </robot>
  283.  
Runtime error #stdin #stdout #stderr 0.02s 62920KB
comments (?)
stdin 
Standard input is empty
stdout 
Standard output is empty
stderr 
  File "prog.py", line 1
    <?xml version="1.0" ?>
     ^
SyntaxError: Unknown character
https://ideone.com/XGmhIQ
language:
Python (PyPy 2.7.13)
created:
4 years ago
visibility:
public

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