turtlebot_playground.world

<sdf version='1.6'>
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      <diffuse>0.8 0.8 0.8 1</diffuse>
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      <ambient>0.4 0.4 0.4 1</ambient>
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      <shadows>1</shadows>
    </scene>
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              <normal>0 0 1</normal>
              <size>100 100</size>
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                <mu2>50</mu2>
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            <bounce/>
            <contact>
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              <size>100 100</size>
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              <name>Gazebo/Grey</name>
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          <linear>0</linear>
          <angular>0</angular>
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        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <enable_wind>0</enable_wind>
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      <sim_time>178 940000000</sim_time>
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      <wall_time>1636775108 548487281</wall_time>
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        <scale>1 1 1</scale>
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          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
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      </model>
      <model name='maze_walls_2'>
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        <scale>1 1 1</scale>
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          <velocity>0 0 0 0 -0 0</velocity>
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          <wrench>0 0 0 0 -0 0</wrench>
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          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
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      </model>
      <model name='rosbot'>
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        <scale>1 1 1</scale>
        <link name='base_link'>
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      </model>
      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
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        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <audio>
      <device>default</device>
    </audio>
    <wind/>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
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      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <model name='rosbot'>
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        <inertial>
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            <ixz>3.8397e-08</ixz>
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        <collision name='base_link_fixed_joint_lump__body_link_collision'>
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          <geometry>
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            </box>
          </geometry>
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          <surface>
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            <topicName>range/rl</topicName>
            <frameName>range_rl</frameName>
            <fov>0.1</fov>
            <radiation>ultrasound</radiation>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <pose frame=''>-0.1 0.05 0.01 0 -0 3.01</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='range_rr' type='ray'>
          <update_rate>5</update_rate>
          <ray>
            <scan>
              <horizontal>
                <samples>5</samples>
                <resolution>1</resolution>
                <min_angle>-0.05</min_angle>
                <max_angle>0.05</max_angle>
              </horizontal>
              <vertical>
                <samples>5</samples>
                <resolution>1</resolution>
                <min_angle>-0.05</min_angle>
                <max_angle>0.05</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.9</max>
              <resolution>0.01</resolution>
            </range>
          </ray>
          <plugin name='gazebo_ros_range' filename='libgazebo_ros_range.so'>
            <gaussianNoise>0.005</gaussianNoise>
            <alwaysOn>1</alwaysOn>
            <updateRate>5</updateRate>
            <topicName>range/rr</topicName>
            <frameName>range_rr</frameName>
            <fov>0.1</fov>
            <radiation>ultrasound</radiation>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <pose frame=''>-0.1 -0.05 0.01 0 -0 -3.01319</pose>
        </sensor>
        <velocity_decay/>
        <velocity_decay/>
        <sensor name='head_rplidar_sensor' type='ray'>
          <visualize>0</visualize>
          <update_rate>40</update_rate>
          <ray>
            <scan>
              <horizontal>
                <samples>720</samples>
                <resolution>1</resolution>
                <min_angle>-3.14159</min_angle>
                <max_angle>3.14159</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.2</min>
              <max>12</max>
              <resolution>0.01</resolution>
            </range>
            <noise>
              <type>gaussian</type>
              <mean>0</mean>
              <stddev>0.01</stddev>
            </noise>
          </ray>
          <plugin name='gazebo_ros_head_rplidar_controller' filename='libgazebo_ros_laser.so'>
            <topicName>scan</topicName>
            <frameName>laser</frameName>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <pose frame=''>0.02 0 0.058 0 -0 3.14</pose>
        </sensor>
        <velocity_decay/>
        <gravity>1</gravity>
        <velocity_decay/>
        <gravity>1</gravity>
        <sensor name='imu_sensor' type='imu'>
          <always_on>1</always_on>
          <update_rate>10</update_rate>
          <visualize>1</visualize>
          <topic>imu</topic>
          <plugin name='imu_plugin' filename='libgazebo_ros_imu_sensor.so'>
            <topicName>imu</topicName>
            <bodyName>imu_link</bodyName>
            <updateRateHZ>10.0</updateRateHZ>
            <gaussianNoise>0.0</gaussianNoise>
            <xyzOffset>0 0 0</xyzOffset>
            <rpyOffset>0 0 0</rpyOffset>
            <frameName>imu_link</frameName>
            <robotNamespace>/</robotNamespace>
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          <pose frame=''>0 0 0 0 -0 0</pose>
          <imu/>
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        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
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      <link name='front_left_wheel'>
        <pose frame=''>0.05 0.11 0 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <mass>0.5</mass>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
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        <collision name='front_left_wheel_collision'>
          <pose frame=''>0 -0.014 0 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.036</length>
              <radius>0.04</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode/>
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            <friction>
              <ode/>
              <torsional>
                <ode/>
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            <bounce/>
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          <max_contacts>10</max_contacts>
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        <visual name='front_left_wheel_visual'>
          <pose frame=''>0 0 0 0 -0 1.5707</pose>
          <geometry>
            <mesh>
              <scale>0.001 0.001 0.001</scale>
              <uri>/home/bot/catkin_ws/src/rosbot_description/src/rosbot_description/meshes/wheel.stl</uri>
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          <material>
            <script>
              <name>Gazebo/Black</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
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        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='front_left_wheel_hinge' type='revolute'>
        <child>front_left_wheel</child>
        <parent>base_link</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
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          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
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      </joint>
      <link name='front_right_wheel'>
        <pose frame=''>0.05 -0.11 0 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <mass>0.5</mass>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
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        <collision name='front_right_wheel_collision'>
          <pose frame=''>0 0.014 0 1.5708 -0 0</pose>
          <geometry>
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              <length>0.036</length>
              <radius>0.04</radius>
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          <surface>
            <contact>
              <ode/>
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            <friction>
              <ode/>
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                <ode/>
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            </friction>
            <bounce/>
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          <max_contacts>10</max_contacts>
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        <visual name='front_right_wheel_visual'>
          <pose frame=''>0 0 0 0 0 -1.5707</pose>
          <geometry>
            <mesh>
              <scale>0.001 0.001 0.001</scale>
              <uri>/home/bot/catkin_ws/src/rosbot_description/src/rosbot_description/meshes/wheel.stl</uri>
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          </geometry>
          <material>
            <script>
              <name>Gazebo/Black</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='front_right_wheel_hinge' type='revolute'>
        <child>front_right_wheel</child>
        <parent>base_link</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
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          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
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          <use_parent_model_frame>1</use_parent_model_frame>
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      <link name='rear_left_wheel'>
        <pose frame=''>-0.055 0.11 0 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <mass>0.5</mass>
          <inertia>
            <ixx>0.001</ixx>
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            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
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        <collision name='rear_left_wheel_collision'>
          <pose frame=''>0 -0.014 0 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.036</length>
              <radius>0.04</radius>
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          </geometry>
          <surface>
            <contact>
              <ode/>
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            <friction>
              <ode/>
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                <ode/>
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            <bounce/>
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        <visual name='rear_left_wheel_visual'>
          <pose frame=''>0 0 0 0 -0 1.5707</pose>
          <geometry>
            <mesh>
              <scale>0.001 0.001 0.001</scale>
              <uri>/home/bot/catkin_ws/src/rosbot_description/src/rosbot_description/meshes/wheel.stl</uri>
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          <material>
            <script>
              <name>Gazebo/Black</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
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        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
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        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='rear_left_wheel_hinge' type='revolute'>
        <child>rear_left_wheel</child>
        <parent>base_link</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
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          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
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          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='rear_right_wheel'>
        <pose frame=''>-0.055 -0.11 0 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 -0 1.5707 1.5707</pose>
          <mass>0.5</mass>
          <inertia>
            <ixx>0.001</ixx>
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            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
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        <collision name='rear_right_wheel_collision'>
          <pose frame=''>0 0.014 0 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.036</length>
              <radius>0.04</radius>
            </cylinder>
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          <surface>
            <contact>
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            <friction>
              <ode/>
              <torsional>
                <ode/>
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            </friction>
            <bounce/>
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          <max_contacts>10</max_contacts>
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        <visual name='rear_right_wheel_visual'>
          <pose frame=''>0 0 0 0 0 -1.5707</pose>
          <geometry>
            <mesh>
              <scale>0.001 0.001 0.001</scale>
              <uri>/home/bot/catkin_ws/src/rosbot_description/src/rosbot_description/meshes/wheel.stl</uri>
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          </geometry>
          <material>
            <script>
              <name>Gazebo/Black</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='rear_right_wheel_hinge' type='revolute'>
        <child>rear_right_wheel</child>
        <parent>base_link</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
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      </joint>
      <plugin name='skid_steer_drive_controller' filename='libgazebo_ros_skid_steer_drive.so'>
        <updateRate>10.0</updateRate>
        <robotBaseFrame>/base_link</robotBaseFrame>
        <wheelSeparation>0.20</wheelSeparation>
        <wheelDiameter>0.08</wheelDiameter>
        <torque>5</torque>
        <leftFrontJoint>front_left_wheel_hinge</leftFrontJoint>
        <rightFrontJoint>front_right_wheel_hinge</rightFrontJoint>
        <leftRearJoint>rear_left_wheel_hinge</leftRearJoint>
        <rightRearJoint>rear_right_wheel_hinge</rightRearJoint>
        <topicName>cmd_vel</topicName>
        <commandTopic>cmd_vel</commandTopic>
        <broadcastTF>1</broadcastTF>
        <odometryTopic>odom</odometryTopic>
        <odometryFrame>/odom</odometryFrame>
        <covariance_x>0.000100</covariance_x>
        <covariance_y>0.000100</covariance_y>
        <covariance_yaw>0.010000</covariance_yaw>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <static>0</static>
      <plugin name='gazebo_ros_control' filename='libgazebo_ros_control.so'>
        <legacyModeNS>1</legacyModeNS>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <pose frame=''>0 0 0 0 -0 0</pose>
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    <model name='maze_walls_2'>
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          <geometry>
            <box>
              <size>4 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
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              <ode/>
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        <visual name='Wall_100_Visual'>
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          <geometry>
            <box>
              <size>4 0.15 2.5</size>
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          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
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            <ambient>1 1 1 1</ambient>
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          <meta>
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        <pose frame=''>-2.87718 1.525 0 0 -0 1.5708</pose>
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      <link name='Wall_101'>
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            <box>
              <size>5.75 0.15 2.5</size>
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          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
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        <visual name='Wall_101_Visual'>
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          <geometry>
            <box>
              <size>5.75 0.15 2.5</size>
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              <uri>file://media/materials/scripts/gazebo.material</uri>
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            <ambient>1 1 1 1</ambient>
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          <meta>
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        <pose frame=''>-0.07718 3.45 0 0 -0 0</pose>
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      <link name='Wall_102'>
        <collision name='Wall_102_Collision'>
          <geometry>
            <box>
              <size>2.5 0.15 2.5</size>
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          <pose frame=''>0 0 1.25 0 -0 0</pose>
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        <visual name='Wall_102_Visual'>
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          <geometry>
            <box>
              <size>2.5 0.15 2.5</size>
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            <ambient>1 1 1 1</ambient>
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          <pose frame=''>0 0 1.25 0 -0 0</pose>
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            <ambient>1 1 1 1</ambient>
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      <link name='Wall_105'>
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          <pose frame=''>0 0 1.25 0 -0 0</pose>
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            <ambient>1 1 1 1</ambient>
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      <link name='Wall_106'>
        <collision name='Wall_106_Collision'>
          <geometry>
            <box>
              <size>4.75 0.15 2.5</size>
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          <pose frame=''>0 0 1.25 0 -0 0</pose>
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        <visual name='Wall_106_Visual'>
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            <ambient>1 1 1 1</ambient>
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        <pose frame=''>0.57282 -2.6 0 0 -0 0</pose>
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        <collision name='Wall_107_Collision'>
          <geometry>
            <box>
              <size>2.75 0.15 2.5</size>
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          <pose frame=''>0 0 1.25 0 -0 0</pose>
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        <visual name='Wall_107_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
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              <name>Gazebo/Grey</name>
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            <ambient>1 1 1 1</ambient>
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          <meta>
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        <pose frame=''>2.87282 -1.3 0 0 -0 1.5708</pose>
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      <link name='Wall_114'>
        <collision name='Wall_114_Collision'>
          <geometry>
            <box>
              <size>1.25 0.15 2.5</size>
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          <geometry>
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            </box>
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              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
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            <ambient>1 1 1 1</ambient>
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        <pose frame=''>-3.30218 -0.4 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
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</sdf>