diff --git a/models/rover_ackermann/LICENSE b/models/rover_ackermann/LICENSE new file mode 100644 index 000000000000..3e6603245349 --- /dev/null +++ b/models/rover_ackermann/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2022, Rudis Laboratories +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/models/rover_ackermann/meshes/MainBody.dae b/models/rover_ackermann/meshes/MainBody.dae new file mode 100644 index 000000000000..c8b4e4c1331b --- /dev/null +++ b/models/rover_ackermann/meshes/MainBody.dae @@ -0,0 +1,157 @@ + + + + + 2024-06-24T08:49:43 + 2024-06-24T08:49:43 + + Z_UP + + + + + + + + + + + + + + + + + + + + + 0 0 0 1 + + + 1 1 1 1 + + + 1 + + + + + + 1 + + + + + + + + + + 0.647059 0.647059 0.647059 1 + + + 1 1 1 1 + + + 1 + + + + + + 1 + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/models/rover_ackermann/model.config b/models/rover_ackermann/model.config new file mode 100644 index 000000000000..d02fa64c9f7e --- /dev/null +++ b/models/rover_ackermann/model.config @@ -0,0 +1,18 @@ + + + rover_ackermann + 1.0 + model.sdf + + Benjamin Perseghetti + bperseghetti@rudislabs.com + + + Christian Friedrich + chfriedrich@ethz.ch + + Generic RC ackermann rover. Based on 'A model of the NXP Mobile Robotics Buggy3' by Benjamin Perseghetti. + + LICENSE + + diff --git a/models/rover_ackermann/model.sdf b/models/rover_ackermann/model.sdf new file mode 100644 index 000000000000..bb818923e647 --- /dev/null +++ b/models/rover_ackermann/model.sdf @@ -0,0 +1,457 @@ + + + 0 0 .04 0 0 0 + false + false + + + 0 0 0 0 0 0 + 3.0 + + 0.0054 + 0 + 0 + 0.0252 + 0 + 0.0252 + + + + 0 0 -.0115 -0.018 0 -1.5707 + + + model://rover_ackermann/meshes/MainBody.dae + + + + + -0.03 0 .03 0 0 0 + + + .45 .1 .08 + + + + + 1 + 250 + + + + + 0 + 0.0003394 + 3.8785e-05 + 1000 + + + + + 0 + 0.0003394 + 3.8785e-05 + 1000 + + + + + 0 + 0.0003394 + 3.8785e-05 + 1000 + + + + + + + 0 + 0.004 + 0.006 + 300 + + + + + 0 + 0.004 + 0.006 + 300 + + + + + 0 + 0.004 + 0.006 + 300 + + + + + + + 1 + 50 + + + + 0 + 0.01 + + + + + + 1 + 30 + + + + 0 0 0 0 0 0 + + .05 + + 0.00003331 + 0 + 0 + 0.0000204 + 0 + 0.0000204 + + + true + + + 0 -0.02 0 0 0 3.14159 + + + model://rover_ackermann/meshes/Wheel.dae + + + + + 0 0 0 -1.5707 0 0 + + + 0.03 + 0.06 + + + + + + 1.0 + 1.0 + 1 0 0 + + + + + + + 0 0 0 0 0 0 + + 0.005 + + 0.0000018 + 0.0000018 + 0.0000018 + + + + + 0 0 0 0 0 0 + + .05 + + 0.00003331 + 0 + 0 + 0.0000204 + 0 + 0.0000204 + + + true + + + 0 -0.02 0 0 0 3.14159 + + + model://rover_ackermann/meshes/Wheel.dae + + + + + 0 0 0 -1.5707 0 0 + + + 0.03 + 0.06 + + + + + + 1.0 + 1.0 + 1 0 0 + + + + + + + 0 0 0 0 0 0 + + 0.005 + + 0.0000018 + 0.0000018 + 0.0000018 + + + + + 0 0 0 0 0 0 + + .05 + + 0.00003331 + 0 + 0 + 0.0000204 + 0 + 0.0000204 + + + true + + + 0 -0.02 0 0 0 3.14159 + + + model://rover_ackermann/meshes/Wheel.dae + + + + + 0 0 0 -1.5707 0 0 + + + 0.03 + 0.06 + + + + + + 1.0 + 1.0 + 1 0 0 + + + + + + + 0 0 0 0 0 0 + + .05 + + 0.00003331 + 0 + 0 + 0.0000204 + 0 + 0.0000204 + + + true + + + 0 -0.02 0 0 0 3.14159 + + + model://rover_ackermann/meshes/Wheel.dae + + + + + 0 0 0 -1.5707 0 0 + + + 0.03 + 0.06 + + + + + + 1.0 + 1.0 + 1 0 0 + + + + + + + base_link + rover_ackermann/FrontRightWheelSteering + .120 -.1 0 0 0 0 + + 0 0 1 + + -0.5236 + 0.5236 + 1.0 + 25 + + 1 + + + + base_link + rover_ackermann/FrontLeftWheelSteering + .120 .1 0 0 0 0 + + 0 0 1 + + -0.5236 + 0.5236 + 1.0 + 25 + + 1 + + + + rover_ackermann/FrontRightWheelSteering + rover_ackermann/FrontRightWheel + 0 0 0 0 0 0 + + 0 1 0 + + -1.79769e+308 + 1.79769e+308 + 50.0 + + + 0 + 0 + + 1 + + + + rover_ackermann/FrontLeftWheelSteering + rover_ackermann/FrontLeftWheel + 0 0 0 0 0 0 + + 0 1 0 + + -1.79769e+308 + 1.79769e+308 + 50.0 + + + 0 + 0 + + 1 + + + + base_link + rover_ackermann/RearRightWheel + -0.192 -.1 0 0 0 0 + + 0 1 0 + + -1.79769e+308 + 1.79769e+308 + 50.0 + + + 0 + 0 + + 1 + + + + base_link + rover_ackermann/RearLeftWheel + -0.192 .1 0 0 0 0 + + 0 1 0 + + -1.79769e+308 + 1.79769e+308 + 50.0 + + + 0 + 0 + + 1 + + + + rover_ackermann/FrontLeftWheelJoint + command/motor_speed + true + 0 + 10.0 + + + rover_ackermann/FrontRightWheelJoint + command/motor_speed + true + 0 + 10.0 + + + rover_ackermann/RearRightWheelJoint + command/motor_speed + true + 0 + 10.0 + + + rover_ackermann/RearLeftWheelJoint + command/motor_speed + true + 0 + 10.0 + + + rover_ackermann/FrontLeftWheelJoint + rover_ackermann/FrontRightWheelJoint + rover_ackermann/RearLeftWheelJoint + rover_ackermann/RearLeftWheelJoint + servo_0 + servo_1 + + + servo_0 + servo_0 + 10 + 0 + 0 + + + servo_1 + servo_0 + 10 + 0 + 0 + + + diff --git a/worlds/rover.sdf b/worlds/rover.sdf new file mode 100644 index 000000000000..919fb1f94ed3 --- /dev/null +++ b/worlds/rover.sdf @@ -0,0 +1,252 @@ + + + + + 0.002 + 1.0 + 500 + + + + + + + + + + + ogre2 + + + + + + 3D View + false + docked + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -6 0 6 0 0.5 0 + + 0.25 + 25000 + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + World control + 0 + 0 + 72 + 121 + 1 + floating + + + + + + 1 + 1 + 1 + + + + World stats + 0 + 0 + 110 + 290 + 1 + floating + + + + + + 1 + 1 + 1 + 1 + + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + true + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + true + + + true + + + + + 0 0 1 + 1 1 + + + + + + 1 + 1 + + + + + 65535 + + 0.005 + 1e8 + + + + + + false + + + 0 0 1 + 400 400 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1 + + 1 + 0 + 0 + 1 + 0 + 1 + + + false + + 0 0 0 0 -0 0 + false + + + 0 0 500 0 -0 0 + true + 1 + 0.001 0.625 -0.78 + 0.904 0.904 0.904 1 + 0.271 0.271 0.271 1 + + 2000 + 0 + 1 + 0 + + + 0 + 0 + 0 + + + + EARTH_WGS84 + ENU + 47.397971057728974 + 8.546163739800146 + 0 + + +