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controller:
sim: true
gazebo:
auto_disable_bodies: false
cfm: 0.0
contact_max_correcting_vel: 100.0
contact_surface_layer: 0.001
enable_ros_network: true
erp: 0.2
gravity_x: 0.0
gravity_y: 0.0
gravity_z: -9.8
max_contacts: 20
max_update_rate: 100.0
sor_pgs_iters: 50
sor_pgs_precon_iters: 0
sor_pgs_rms_error_tol: 0.0
sor_pgs_w: 1.3
time_step: 0.01
robot_description: "<?xml version=\"1.0\" ?>\n<!-- ===================================================================================\
\ -->\n<!-- | This document was autogenerated by xacro from /home/steve/robotics_ws/src/usafabot/usafabot_description/urdf/usafabot.urdf.xacro\
\ | -->\n<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED \
\ | -->\n<!-- ===================================================================================\
\ -->\n<robot name=\"usafabot\">\n <!-- Init colour -->\n <material name=\"black\"\
>\n <color rgba=\"0.0 0.0 0.0 1.0\"/>\n </material>\n <material name=\"dark\"\
>\n <color rgba=\"0.3 0.3 0.3 1.0\"/>\n </material>\n <material name=\"light_black\"\
>\n <color rgba=\"0.4 0.4 0.4 1.0\"/>\n </material>\n <material name=\"blue\"\
>\n <color rgba=\"0.0 0.0 0.8 1.0\"/>\n </material>\n <material name=\"green\"\
>\n <color rgba=\"0.0 0.8 0.0 1.0\"/>\n </material>\n <material name=\"grey\"\
>\n <color rgba=\"0.5 0.5 0.5 1.0\"/>\n </material>\n <material name=\"orange\"\
>\n <color rgba=\"1.0 0.4235294117647059 0.0392156862745098 1.0\"/>\n </material>\n\
\ <material name=\"brown\">\n <color rgba=\"0.8705882352941177 0.8117647058823529\
\ 0.7647058823529411 1.0\"/>\n </material>\n <material name=\"red\">\n <color\
\ rgba=\"0.8 0.0 0.0 1.0\"/>\n </material>\n <material name=\"white\">\n <color\
\ rgba=\"1.0 1.0 1.0 1.0\"/>\n </material>\n <gazebo>\n <plugin filename=\"\
libgazebo_ros_diff_drive.so\" name=\"differential_drive_controller\">\n <commandTopic>cmd_vel</commandTopic>\n\
\ <odometryTopic>odom</odometryTopic>\n <odometryFrame>odom</odometryFrame>\n\
\ <odometrySource>world</odometrySource>\n <publishOdomTF>true</publishOdomTF>\n\
\ <robotBaseFrame>base_footprint</robotBaseFrame>\n <publishWheelTF>false</publishWheelTF>\n\
\ <publishTf>true</publishTf>\n <publishWheelJointState>true</publishWheelJointState>\n\
\ <legacyMode>false</legacyMode>\n <updateRate>30</updateRate>\n \
\ <leftJoint>wheel_left_joint</leftJoint>\n <rightJoint>wheel_right_joint</rightJoint>\n\
\ <wheelSeparation>0.149</wheelSeparation>\n <wheelDiameter>0.07</wheelDiameter>\n\
\ <wheelAcceleration>1</wheelAcceleration>\n <wheelTorque>10</wheelTorque>\n\
\ <rosDebugLevel>na</rosDebugLevel>\n </plugin>\n </gazebo>\n <gazebo\
\ reference=\"caster_front_link\">\n <turnGravityOff>false</turnGravityOff>\n\
\ <mu1 value=\"0.0\"/>\n <mu2 value=\"0.0\"/>\n <slip1 value=\"1.0\"/>\n\
\ <slip2 value=\"1.0\"/>\n </gazebo>\n <gazebo reference=\"caster_back_link\"\
>\n <turnGravityOff>false</turnGravityOff>\n <mu1 value=\"0.0\"/>\n <mu2\
\ value=\"0.0\"/>\n <slip1 value=\"1.0\"/>\n <slip2 value=\"1.0\"/>\n </gazebo>\n\
\ <gazebo reference=\"base_link\">\n <material>Gazebo/Black</material>\n </gazebo>\n\
\ <gazebo reference=\"top_chassis\">\n <material>Gazebo/Blue</material>\n </gazebo>\n\
\ <gazebo reference=\"left_wheel_link\">\n <material>Gazebo/Black</material>\n\
\ </gazebo>\n <gazebo reference=\"right_wheel_link\">\n <material>Gazebo/Black</material>\n\
\ </gazebo>\n <!-- LIDAR -->\n <gazebo reference=\"base_scan\">\n <material>Gazebo/FlatBlack</material>\n\
\ <sensor name=\"lds_lfcd_sensor\" type=\"ray\">\n <pose>0 0 0 0 0 0</pose>\n\
\ <visualize>false</visualize>\n <update_rate>5</update_rate>\n <ray>\n\
\ <scan>\n <horizontal>\n <samples>360</samples>\n \
\ <resolution>1</resolution>\n <min_angle>0.0</min_angle>\n\
\ <max_angle>6.28319</max_angle>\n </horizontal>\n </scan>\n\
\ <range>\n <min>0.150</min>\n <max>12</max>\n \
\ <resolution>0.002</resolution>\n </range>\n <noise>\n \
\ <type>gaussian</type>\n <mean>0.0</mean>\n <stddev>0.01</stddev>\n\
\ </noise>\n </ray>\n <plugin filename=\"libgazebo_ros_laser.so\"\
\ name=\"gazebo_ros_lds_lfcd_controller\">\n <topicName>scan</topicName>\n\
\ <frameName>base_scan</frameName>\n </plugin>\n </sensor>\n </gazebo>\n\
\ <!-- CAMERA -->\n <gazebo reference=\"camera_link\">\n <material>Gazebo/Black</material>\n\
\ <sensor name=\"camera1\" type=\"camera\">\n <update_rate>30.0</update_rate>\n\
\ <camera name=\"head\">\n <horizontal_fov>1.3962634</horizontal_fov>\n\
\ <image>\n <width>800</width>\n <height>800</height>\n\
\ <format>R8G8B8</format>\n </image>\n <clip>\n \
\ <near>0.02</near>\n <far>300</far>\n </clip>\n <noise>\n\
\ <type>gaussian</type>\n <!-- Noise is sampled independently\
\ per pixel on each frame.\n That pixel's noise value is added to\
\ each of its color\n channels, which at that point lie in the range\
\ [0,1]. -->\n <mean>0.0</mean>\n <stddev>0.007</stddev>\n \
\ </noise>\n </camera>\n <plugin filename=\"libgazebo_ros_camera.so\"\
\ name=\"camera_controller\">\n <alwaysOn>true</alwaysOn>\n <updateRate>0.0</updateRate>\n\
\ <cameraName>usb_cam</cameraName>\n <imageTopicName>image_raw</imageTopicName>\n\
\ <cameraInfoTopicName>camera_info</cameraInfoTopicName>\n <frameName>camera_link</frameName>\n\
\ <hackBaseline>0.07</hackBaseline>\n <distortionK1>0.0</distortionK1>\n\
\ <distortionK2>0.0</distortionK2>\n <distortionK3>0.0</distortionK3>\n\
\ <distortionT1>0.0</distortionT1>\n <distortionT2>0.0</distortionT2>\n\
\ </plugin>\n </sensor>\n </gazebo>\n <!-- IMU -->\n <gazebo reference=\"\
imu_link\">\n <sensor name=\"imu\" type=\"imu\">\n <always_on>true</always_on>\n\
\ <visualize>false</visualize>\n </sensor>\n <material>Gazebo/FlatBlack</material>\n\
\ </gazebo>\n <gazebo>\n <plugin filename=\"libgazebo_ros_imu.so\" name=\"\
imu_plugin\">\n <alwaysOn>true</alwaysOn>\n <bodyName>imu_link</bodyName>\n\
\ <frameName>imu_link</frameName>\n <topicName>imu</topicName>\n \
\ <serviceName>imu_service</serviceName>\n <gaussianNoise>0.0</gaussianNoise>\n\
\ <updateRate>0</updateRate>\n <imu>\n <noise>\n <type>gaussian</type>\n\
\ <rate>\n <mean>0.0</mean>\n <stddev>2e-4</stddev>\n\
\ <bias_mean>0.0000075</bias_mean>\n <bias_stddev>0.0000008</bias_stddev>\n\
\ </rate>\n <accel>\n <mean>0.0</mean>\n \
\ <stddev>1.7e-2</stddev>\n <bias_mean>0.1</bias_mean>\n \
\ <bias_stddev>0.001</bias_stddev>\n </accel>\n </noise>\n \
\ </imu>\n </plugin>\n </gazebo>\n <link name=\"base_footprint\"/>\n <joint\
\ name=\"base_joint\" type=\"fixed\">\n <parent link=\"base_footprint\"/>\n \
\ <child link=\"base_link\"/>\n <origin rpy=\"0 0 1.5708\" xyz=\"0.0 0.0 0.010\"\
/>\n </joint>\n <!-- Base Link -->\n <link name=\"base_link\">\n <visual>\n\
\ <origin rpy=\"1.570795 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <mesh\
\ filename=\"package://usafabot_description/meshes/bottom_chassis.stl\" scale=\"\
.001 .001 .001\"/>\n </geometry>\n <material name=\"black\"/>\n </visual>\n\
\ <!-- Base collision -->\n <collision>\n <origin rpy=\"0 0 0\" xyz=\"\
0 0.006 0.014\"/>\n <geometry>\n <box size=\"0.14046 0.17219 0.0679\"\
/>\n </geometry>\n </collision>\n <!-- Base inertial -->\n <inertial>\n\
\ <mass value=\"5\"/>\n <inertia ixx=\"0.13\" ixy=\"0.0\" ixz=\"0.0\"\
\ iyy=\"0.21\" iyz=\"0.0\" izz=\"0.13\"/>\n </inertial>\n </link>\n <joint\
\ name=\"caster_back_link\" type=\"fixed\">\n <parent link=\"base_link\"/>\n\
\ <child link=\"caster_back_link\"/>\n <origin rpy=\"0 0 0\" xyz=\"0 .064\
\ -0.0175\"/>\n </joint>\n <link name=\"caster_back_link\">\n <collision>\n\
\ <origin rpy=\"0 0 0\" xyz=\"0 0.001 0\"/>\n <geometry>\n <sphere\
\ radius=\".017\"/>\n </geometry>\n </collision>\n <inertial>\n \
\ <origin xyz=\"0 0 0\"/>\n <mass value=\"0.005\"/>\n <inertia ixx=\"\
0.001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.001\" iyz=\"0.0\" izz=\"0.001\"/>\n </inertial>\n\
\ </link>\n <joint name=\"caster_front_joint\" type=\"fixed\">\n <parent link=\"\
base_link\"/>\n <child link=\"caster_front_link\"/>\n <origin rpy=\"0 0 0\"\
\ xyz=\"0 -.044 -0.0175\"/>\n </joint>\n <link name=\"caster_front_link\">\n \
\ <collision>\n <origin rpy=\"0 0 0\" xyz=\"0 0.001 0\"/>\n <geometry>\n\
\ <sphere radius=\".017\"/>\n </geometry>\n </collision>\n <inertial>\n\
\ <origin xyz=\"0 0 0\"/>\n <mass value=\"0.005\"/>\n <inertia ixx=\"\
0.001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.001\" iyz=\"0.0\" izz=\"0.001\"/>\n </inertial>\n\
\ </link>\n <!-- Top Chassis -->\n <link name=\"top_chassis\">\n <visual>\n\
\ <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <mesh filename=\"\
package://usafabot_description/meshes/top_chassis.stl\" scale=\".001 .001 .001\"\
/>\n </geometry>\n <material name=\"blue\"/>\n </visual>\n <!--\
\ Top chassis collision -->\n <!-- <collision>\n <origin xyz=\"0 0 0\" rpy=\"\
0 1.570795 0\" />\n <geometry>\n <cylinder length=\".008\" radius=\"\
0.033\" />\n </geometry>\n </collision> -->\n <!-- Top chassis inertial\
\ -->\n <inertial>\n <mass value=\"0.5\"/>\n <inertia ixx=\"0.01\"\
\ ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.005\" iyz=\"0.0\" izz=\"0.005\"/>\n </inertial>\n\
\ </link>\n <joint name=\"joint_top_chassis\" type=\"fixed\">\n <parent link=\"\
base_link\"/>\n <child link=\"top_chassis\"/>\n <origin rpy=\"0 0 0\" xyz=\"\
0 0 0\"/>\n </joint>\n <!-- Left Wheel -->\n <joint name=\"wheel_left_joint\"\
\ type=\"continuous\">\n <parent link=\"base_link\"/>\n <child link=\"left_wheel_link\"\
/>\n <origin rpy=\"0 0 0\" xyz=\".0728 0 0\"/>\n <axis xyz=\"1 0 0\"/>\n \
\ </joint>\n <link name=\"left_wheel_link\">\n <visual>\n <origin rpy=\"\
0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <mesh filename=\"package://usafabot_description/meshes/rviz_wheel1.stl\"\
\ scale=\".001 .001 .001\"/>\n </geometry>\n <material name=\"black\"\
/>\n </visual>\n <!-- Wheel collision -->\n <collision>\n <origin\
\ rpy=\"0 1.570795 0\" xyz=\"0 0 0\"/>\n <geometry>\n <cylinder length=\"\
.008\" radius=\"0.035\"/>\n </geometry>\n </collision>\n <!-- Wheel inertial\
\ -->\n <inertial>\n <mass value=\"0.5\"/>\n <inertia ixx=\"0.01\"\
\ ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.005\" iyz=\"0.0\" izz=\"0.005\"/>\n </inertial>\n\
\ </link>\n <!-- Right Wheel -->\n <joint name=\"wheel_right_joint\" type=\"\
continuous\">\n <parent link=\"base_link\"/>\n <child link=\"right_wheel_link\"\
/>\n <origin rpy=\"0 0 0\" xyz=\"-.0728 0 0\"/>\n <axis xyz=\"1 0 0\"/>\n\
\ </joint>\n <link name=\"right_wheel_link\">\n <visual>\n <origin rpy=\"\
0 3.1415 0\" xyz=\"0 0 0\"/>\n <geometry>\n <mesh filename=\"package://usafabot_description/meshes/rviz_wheel2.stl\"\
\ scale=\".001 .001 .001\"/>\n </geometry>\n <material name=\"black\"\
/>\n </visual>\n <!-- Wheel collision -->\n <collision>\n <origin\
\ rpy=\"0 1.570795 0\" xyz=\"0 0 0\"/>\n <geometry>\n <cylinder length=\"\
.008\" radius=\"0.035\"/>\n </geometry>\n </collision>\n <!-- Wheel inertial\
\ -->\n <inertial>\n <mass value=\"0.5\"/>\n <inertia ixx=\"0.01\"\
\ ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.005\" iyz=\"0.0\" izz=\"0.005\"/>\n </inertial>\n\
\ </link>\n <!-- LIDAR -->\n <joint name=\"scan_joint\" type=\"fixed\">\n \
\ <parent link=\"base_link\"/>\n <child link=\"base_scan\"/>\n <origin rpy=\"\
0 0 -1.5708\" xyz=\"0 .04 0.075\"/>\n </joint>\n <link name=\"base_scan\">\n \
\ <visual>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0.0\"/>\n <geometry>\n\
\ <mesh filename=\"package://usafabot_description/meshes/lds.stl\" scale=\"\
.001 .001 .001\"/>\n </geometry>\n <material name=\"dark\"/>\n </visual>\n\
\ <collision>\n <origin rpy=\"0 0 0\" xyz=\"0.015 0 -0.0065\"/>\n <geometry>\n\
\ <cylinder length=\"0.0315\" radius=\"0.055\"/>\n </geometry>\n \
\ </collision>\n <inertial>\n <mass value=\"0.114\"/>\n <origin xyz=\"\
0 0 0\"/>\n <inertia ixx=\"0.001\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.001\" iyz=\"\
0.0\" izz=\"0.001\"/>\n </inertial>\n </link>\n <!-- CAMERA -->\n <joint name=\"\
camera_joint\" type=\"fixed\">\n <axis xyz=\"0 1 0\"/>\n <origin rpy=\"0 0\
\ -1.57\" xyz=\"0 -0.07 0.06\"/>\n <parent link=\"base_link\"/>\n <child link=\"\
camera_link\"/>\n </joint>\n <link name=\"camera_link\">\n <collision>\n \
\ <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <box size=\"\
.035 .035 .015\"/>\n </geometry>\n </collision>\n <visual>\n <origin\
\ rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n <geometry>\n <box size=\".035 .035\
\ .015\"/>\n </geometry>\n <material name=\"red\"/>\n </visual>\n \
\ <inertial>\n <mass value=\"1e-5\"/>\n <origin rpy=\"0 0 0\" xyz=\"\
0 0 0\"/>\n <inertia ixx=\"1e-6\" ixy=\"0\" ixz=\"0\" iyy=\"1e-6\" iyz=\"0\"\
\ izz=\"1e-6\"/>\n </inertial>\n </link>\n <!-- IMU -->\n <joint name=\"imu_joint\"\
\ type=\"fixed\">\n <parent link=\"base_link\"/>\n <child link=\"imu_link\"\
/>\n <origin rpy=\"0 0 -1.57\" xyz=\"0 0 0.068\"/>\n </joint>\n <link name=\"\
imu_link\"/>\n</robot>\n\n"
robot_state_publisher:
publish_frequency: 50.0
tf_prefix: ''
rosdistro: 'noetic
'
roslaunch:
uris:
host_steve__34195: http://steve:34195/
rosversion: '1.15.14
'
run_id: 233b7a1c-8ab0-11ec-a08c-4d319d9c93be
sim: true
usb_cam:
image_raw:
compressed:
format: jpeg
jpeg_optimize: false
jpeg_progressive: false
jpeg_quality: 80
jpeg_restart_interval: 0
png_level: 9
compressedDepth:
depth_max: 10.0
depth_quantization: 100.0
format: png
png_level: 9
theora:
keyframe_frequency: 64
optimize_for: 1
quality: 31
target_bitrate: 800000
imager_rate: 2.0
use_sim_time: true