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Gazebo Tutorial and partial Oops assignment added. #2

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Gazebo Tutorial and partial Oops assignment added. #2

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d61d0b0
Gazebo Tutorial and partial Oops assignment added.
Mar 11, 2014
9ee6438
Getting segmentation fault with bfs. 1-2 functions still left as I am…
Mar 13, 2014
66b4da0
I have tried to reorganise the functions and classes. Still getting d…
Mar 14, 2014
4ee1291
Deleted redundant files
Mar 15, 2014
91c1eeb
Deleted
Mar 15, 2014
5be1f4f
Working
Mar 20, 2014
ced7c1f
Incomplete code to separate lanes
Apr 7, 2014
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15 changes: 15 additions & 0 deletions Shivam/Gazebo/my_robots/model.config
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Original file line number Diff line number Diff line change
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<?xml version="1.0"?>
<model>
<name>My Robot</name>
<version>1.0</version>
<sdf version='1.4'>model.sdf</sdf>

<author>
<name>My Name</name>
<email>me@my.email</email>
</author>

<description>
My awesome robot.
</description>
</model>
118 changes: 118 additions & 0 deletions Shivam/Gazebo/my_robots/model.sdf
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@@ -0,0 +1,118 @@
<?xml version='1.0'?>
<sdf version='1.4'>
<model name="my_robot">
<static>false</static>
<link name='chassis'>
<pose>0 0 0.1 0 0 0</pose>

<visual name='visual'>
<geometry>
<box>
<size>0.4 0.2 0.1</size>
</box>
</geometry>
</visual>

<collision name='collision'>
<geometry>
<box>
<size>.4 .2 .1</size>
</box>
</geometry>
</collision>



<visual name='caster_visual'>
<pose>-0.15 0 -.05 0 0 0</pose>
<geometry>
<sphere>
<radius>0.05</radius>
</sphere>
</geometry>
</visual>



<collision name='caster_collision'>
<pose>-0.15 0 -0.05 0 0 0</pose>
<geometry>
<sphere>
<radius>0.05</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
</link>

<link name='left_wheel'>
<pose>0.1 0.13 0.1 0 1.5707 1.5707</pose>
<visual name="left_wheel_visual">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
</visual>
<collision name="left_collision">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
</collision>
</link>
<link name="right_wheel">
<pose>0.1 -0.13 0.1 0 1.5707 1.5707</pose>
<collision name="right_collision">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>.1</radius>
<length>.05</length>
</cylinder>
</geometry>
</visual>
</link>

<joint type="revolute" name="left_wheel_hinge">
<pose>0 0 -0.03 0 0 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>

<joint type="revolute" name="right_wheel_hinge">
<pose>0 0 0.03 0 0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>


</model>
</sdf>


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