jumeau_pioneer3DX/Projet/pioneer_description/urdf/pioneer.gazebo

<?xml version="1.0"?>
<robot>

  <!-- ros_control plugin -->
  <!--<gazebo>
    <plugin name="differential_drive_controller" filename="libDiffDrivePlugin.so">
      <updateRate>100.0</updateRate>
      <robotNamespace>pioneer</robotNamespace>
      <left_joint>base_left_wheel_joint</left_joint>
      <right_joint>base_right_wheel_joint</right_joint>
      <torque>200</torque>
      <topicName>cmd_vel</topicName>
    </plugin>
  </gazebo>-->
  <!-- START: Not sure if I need this, may allow for rosservice calls to gazebo joint manager -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>pioneer</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>
  <!-- END: Not sure if I need this -->
  
  <gazebo>
    <plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
      <alwaysOn>true</alwaysOn>
      <updateRate>100</updateRate>
      <leftJoint>base_left_wheel_joint</leftJoint>
      <rightJoint>base_right_wheel_joint</rightJoint>
      <torque>5</torque>
      <wheelSeparation>0.39</wheelSeparation>
      <wheelDiameter>0.15</wheelDiameter>
      <commandTopic>pioneer/cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <odometrySource>world</odometrySource>
      <robotBaseFrame>base_link</robotBaseFrame>
      <publishTf>true</publishTf>
      <publishOdomTF>true</publishOdomTF>
      <publishWheelTF>true</publishWheelTF>
      <publishWheelJointState>true</publishWheelJointState>
      <wheelAcceleration>0</wheelAcceleration>
      <wheelTorque>5</wheelTorque>
      <rosDebugLevel>na</rosDebugLevel>
      <legacyMode>true</legacyMode>
    </plugin>
  </gazebo>
  <!--<gazebo>
    <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
      <updateRate>100.0</updateRate>
      <robotNamespace>/pioneer</robotNamespace>
      <leftFrontJoint>base_left_wheel_joint</leftFrontJoint>
      <rightFrontJoint>base_right_wheel_joint</rightFrontJoint>
      <leftRearJoint>base_left_wheel_joint</leftRearJoint>
      <rightRearJoint>base_right_wheel_joint</rightRearJoint>
      <wheelSeparation>0.39</wheelSeparation>
      <wheelDiameter>0.15</wheelDiameter>
      <robotBaseFrame>base_link</robotBaseFrame>
      <torque>200</torque>
      <topicName>cmd_vel</topicName>
    </plugin>
  </gazebo>-->

  <!-- Chassis -->
	<gazebo reference="chassis">
		<material value="Gazebo/Red"/>
	</gazebo>
	
	<!-- Top -->
	<gazebo reference="top_plate">
		<material value="Gazebo/Black"/>
	</gazebo>
	
	<!-- Swivel -->
	<gazebo reference="swivel">
		<material value="Gazebo/Grey"/>
	</gazebo>

  <!-- Center Wheel + Hubcap -->
	<gazebo reference="center_hubcap">
		<material value="Gazebo/Grey"/>
	</gazebo>
	
	<gazebo reference="center_wheel">
		<material value="Gazebo/Black"/>
	</gazebo>
	
	<gazebo reference="left_hub">
		<material value="Gazebo/Yellow"/>
	</gazebo>
	
	<gazebo reference="left_wheel">
		<material value="Gazebo/Black"/>
	</gazebo>
	
	<gazebo reference="right_hub">
		<material value="Gazebo/Yellow"/>
	</gazebo>
	
	<gazebo reference="right_wheel">
		<material value="Gazebo/Black"/>
	</gazebo>

  <!-- Front + Back Sonar -->
	<gazebo reference="front_sonar">
		<material value="Gazebo/Yellow"/>
	</gazebo>

	<gazebo reference="back_sonar">
		<material value="Gazebo/Yellow"/>
	</gazebo>

<!-- pilier -->
	<gazebo reference="pilier_link">
		<material value="Gazebo/Grey"/>
	</gazebo>

<!-- plaque suport RPLIDAR -->
	<gazebo reference="plaque_link">
		<material value="Gazebo/Grey"/>
	</gazebo>

<!-- OrbbecAstra -->
	<gazebo reference="OrbbecAstra_link">
	       <mu1>0.2</mu1>
               <mu2>0.2</mu2>
	       <material value="Gazebo/Grey"/>
	</gazebo>

<!-- RPLIDAR-A2 -->
  <gazebo reference="laser">
	       <material value="Gazebo/Black"/>
  </gazebo>

  <gazebo reference="laser">
    <sensor type="ray" name="RPlidar_A2">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>40.0</update_rate>  
      <ray>   
       <scan>
          <horizontal>
            <samples>550</samples>
            <resolution>1</resolution>
            <min_angle>-3.1415</min_angle>
            <max_angle>3.1415</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.15</min>
          <max>12.0</max>
          <resolution>0.01</resolution>  
        </range>  
       <noise>
          <type>gaussian</type> 
          <!-- Noise parameters based on published spec for Hokuyo laser achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
               stddev of 0.01m will put 99.7% of samples within 0.03m of the true reading. -->
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
        <topicName>base_scan</topicName>
        <frameName>laser</frameName>
      </plugin>
    </sensor>
  </gazebo>   

  <!-- OrbbecAstra -->
  <gazebo reference="OrbbecAstra_link">
    <sensor name="camera" type="depth">
      <update_rate>30</update_rate>
      <camera>
        <horizontal_fov>1.047198</horizontal_fov>
        <image>
          <width>640</width>
          <height>480</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.6</near>
          <far>8</far>
        </clip>
      </camera>
      <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
        <baseline>0.2</baseline>
        <alwaysOn>true</alwaysOn>
        <updateRate>1.0</updateRate>
        <cameraName>camera_ir</cameraName>
        <imageTopicName>/camera/color/image_raw</imageTopicName>
        <cameraInfoTopicName>/camera/color/camera_info</cameraInfoTopicName>
        <depthImageTopicName>/camera/depth/image_raw</depthImageTopicName>
        <depthImageInfoTopicName>/camera/depth/camera_info</depthImageInfoTopicName>
        <pointCloudTopicName>/camera/depth/points</pointCloudTopicName>
        <frameName>OrbbecAstra_link</frameName>
        <pointCloudCutoff>0.6</pointCloudCutoff>
        <pointCloudCutoffMax>8.0</pointCloudCutoffMax>
        <distortionK1>0.00000001</distortionK1>
        <distortionK2>0.00000001</distortionK2>
        <distortionK3>0.00000001</distortionK3>
        <distortionT1>0.00000001</distortionT1>
        <distortionT2>0.00000001</distortionT2>
        <CxPrime>0</CxPrime>
        <Cx>0</Cx>
        <Cy>0</Cy>
        <focalLength>0</focalLength>
        <hackBaseline>0</hackBaseline>
      </plugin>
    </sensor>
  </gazebo>

</robot>