mirror of
https://github.com/bjoernellens1/cps_loki_description.git
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This commit is contained in:
bjoernellens1
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commit
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@ -2,196 +2,227 @@
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="diffbot" params="prefix">
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<xacro:include filename="inertial_macros.xacro"/>
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<!-- Constants for robot dimensions -->
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<xacro:property name="PI" value="3.1415926535897931"/>
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<xacro:property name="base_mass" value="0.3" />
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<!-- arbitrary value for base mass -->
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<xacro:property name="base_width" value="0.26" />
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<!-- Updated wheel spacing to 25cm -->
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<xacro:property name="base_length" value="0.34" />
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<xacro:property name="base_height" value="0.123" />
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<xacro:property name="wheel_mass" value="0.3" />
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<!-- arbitrary value for wheel mass -->
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<xacro:property name="wheel_len" value="0.020" />
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<!-- new properties -->
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<xacro:property name="chassis_length" value="0.34"/>
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<xacro:property name="chassis_width" value="0.26"/>
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<xacro:property name="chassis_height" value="0.123"/>
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<xacro:property name="chassis_mass" value="3.0"/>
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<xacro:property name="wheel_radius" value="0.0625"/>
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<xacro:property name="caster_wheel_mass" value="0.1" />
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<!-- arbitrary value for caster wheel mass -->
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<xacro:property name="wheel_thickness" value="0.020"/>
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<xacro:property name="wheel_mass" value="0.02"/>
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<xacro:property name="wheel_offset_x" value="0.285748"/>
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<xacro:property name="wheel_offset_y" value="0.33675"/>
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<xacro:property name="wheel_offset_z" value="-0.035"/>
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<xacro:property name="caster_wheel_radius" value="0.04"/>
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<xacro:property name="z_offset" value="-${base_height/2}" />
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<!-- Offset of main Axis to center of base body (Axis of rotation for steering) -->
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<xacro:property name="base_offset" value="0.11" />
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<xacro:property name="caster_wheel_mass" value="0.01"/>
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<xacro:property name="caster_wheel_offset_x" value="0.075"/>
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<xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/>
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<!-- Materials -->
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<material name="white">
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<color rgba="1 1 1 1" />
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</material>
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<material name="orange">
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<color rgba="1 0.3 0.1 1"/>
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</material>
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<material name="blue">
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<color rgba="0.2 0.2 1 1"/>
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</material>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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<material name="red">
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<color rgba="1 0 0 1"/>
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</material>
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<material name="green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="grey">
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<color rgba="0.6 0.6 0.6 1.0"/>
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</material>
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<material name="grey2">
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<color rgba="0.9 0.9 0.9 1.0"/>
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</material>
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<material name="lightGrey">
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<color rgba="0.6 0.6 0.6 1.0"/>
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</material>
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<!-- Base Link -->
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<link name="${prefix}base_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://cps_loki_description/mesh/base_link_visual.stl"/>
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</geometry>
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<material name="base_link_material">
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<color rgba="0.80032179626883115375 0.81301836741632160788 0.83346199892499306383 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 -0 0" />
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<geometry>
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<mesh filename="package://cps_loki_description/mesh/base_link_collision.stl"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="8.4123950268139715547" />
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<inertia ixx="0.090166990291185383777" ixy="4.7429179749238352248e-18" ixz="1.4209310488728267579e-18" iyy="0.055481261106946747064" iyz="-0.01112159061226025876" izz="0.13051099377067149065" />
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</inertial>
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</link>
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<!-- Adding base_footprint for mapping (Needed by slam toolbox) -->
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<link name="${prefix}base_footprint">
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</link>
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<joint name="${prefix}base_footprint_joint" type="fixed">
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<parent link="${prefix}base_link" />
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<child link="${prefix}base_footprint" />
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<origin xyz="0 0 ${z_offset}" rpy="0 0 0" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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</joint>
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<!-- right wheel joint -->
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<joint name="${prefix}right_wheel_joint" type="continuous">
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<origin xyz="0 ${-0.125 - wheel_len /2} ${z_offset}" rpy="${PI / 2} 0 0" />
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<link name="${prefix}base_footprint">
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</link>
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<!-- CHASSIS LINK -->
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<joint name="${prefix}chassis_joint" type="fixed">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}chassis"/>
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<origin xyz="${-chassis_length/2 + 0.065} 0 ${wheel_radius - wheel_offset_z}"/>
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</joint>
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<link name="${prefix}chassis">
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<visual>
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<origin xyz="0 0 0"/>
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<geometry>
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<box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
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<origin xyz="0 0 0"/>
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<geometry>
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<box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
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</geometry>
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</collision>
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<xacro:inertial_box mass="0.5" x="${chassis_length}" y="${chassis_width}" z="${chassis_height}">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_box>
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</link>
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<gazebo reference="chassis">
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<material>Gazebo/Orange</material>
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</gazebo>
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<!-- RIGHT WHEEL -->
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<joint name="${prefix}right_wheel_joint" type="continuous">
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<parent link="${prefix}chassis"/>
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<child link="${prefix}right_wheel"/>
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<origin xyz="${chassis_length/2 - 0.075} -${wheel_offset_y/2 + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="${pi/2} 0 0" />
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<axis xyz="0 0 -1"/>
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<limit effort="1" velocity="20" />
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<joint_properties friction="0.0"/>
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</joint>
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<!-- right wheel Link -->
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<link name="${prefix}right_wheel">
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<visual>
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<origin xyz="0 0 ${wheel_len}" rpy="0 -0 0" />
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<geometry>
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<mesh filename="package://cps_loki_description/mesh/wheel_link_visual.stl"/>
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<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
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</geometry>
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<material name="wheel_link_material">
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<color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/>
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</material>
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<material name="blue"/>
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</visual>
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<collision>
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<origin xyz="0 0 ${wheel_len}" rpy="0 -0 0" />
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<geometry>
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<mesh filename="package://cps_loki_description/mesh/wheel_link_collision.stl"/>
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<sphere radius="${wheel_radius}"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="-1.3877787807814456755e-17 -6.9388939039072283776e-18 -0.017500000000000029421" rpy="0 0 0"/>
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<mass value="0.43298678305638949038" />
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<inertia ixx="0.00043196650576949035269" ixy="0" ixz="1.8666117243005040269e-36" iyy="0.00043196650576949029848" iyz="0" izz="0.00078373880522818965139" />
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</inertial>
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<xacro:inertial_cylinder mass="${wheel_mass}" length="${wheel_thickness}" radius="${wheel_radius}">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_cylinder>
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</link>
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<!-- left wheel joint -->
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<gazebo reference="right_wheel">
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<material>Gazebo/Blue</material>
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</gazebo>
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<!-- LEFT WHEEL -->
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<joint name="${prefix}left_wheel_joint" type="continuous">
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<origin xyz="0 ${0.125 + wheel_len /2} ${z_offset}" rpy="${PI / 2} 0 0" />
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<parent link="${prefix}base_link" />
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<parent link="${prefix}chassis"/>
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<child link="${prefix}left_wheel"/>
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<origin xyz="${chassis_length/2 - 0.075} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="-${pi/2} 0 0" />
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<axis xyz="0 0 1"/>
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<limit effort="1" velocity="20" />
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<joint_properties friction="0.0" />
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</joint>
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<!-- left wheel Link -->
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<link name="${prefix}left_wheel">
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<visual>
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<origin xyz="0 0 ${wheel_len}" rpy="0 -0 0" />
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<geometry>
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<mesh filename="package://cps_loki_description/mesh/wheel_link_2_visual.stl"/>
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<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
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</geometry>
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<material name="wheel_link_2_material">
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<color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/>
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</material>
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<material name="blue"/>
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</visual>
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<collision>
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<origin xyz="0 0 ${wheel_len}" rpy="0 -0 0" />
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<geometry>
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<mesh filename="package://cps_loki_description/mesh/wheel_link_2_collision.stl"/>
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<sphere radius="${wheel_radius}"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="-2.7755575615628913511e-17 0 -0.017500000000000015543" rpy="0 0 0"/>
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<mass value="0.43298678305638949038" />
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<inertia ixx="0.00043196650576949035269" ixy="1.4778173856800390343e-52" ixz="-4.8081924471597460774e-36" iyy="0.00043196650576949029848" iyz="0" izz="0.00078373880522818965139" />
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</inertial>
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<xacro:inertial_cylinder mass="${wheel_mass}" length="${wheel_thickness}" radius="${wheel_radius}">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_cylinder>
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</link>
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<!-- caster wheel joint -->
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<gazebo reference="left_wheel">
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<material>Gazebo/Blue</material>
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</gazebo>
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<!-- CASTER WHEEL -->
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<joint name="${prefix}caster_wheel_joint" type="fixed">
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<origin xyz="-${base_length / 2 + base_offset} 0 -0.02" rpy="0 0 ${PI}" />
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<parent link="${prefix}base_link" />
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<parent link="${prefix}chassis"/>
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<child link="${prefix}caster_wheel"/>
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<axis xyz="0 0 1"/>
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<limit effort="1" velocity="20" />
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<joint_properties friction="0.0"/>
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<origin xyz="-${caster_wheel_offset_x*2} 0 ${caster_wheel_offset_z}"/>
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</joint>
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<!-- caster wheel Link -->
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<link name="${prefix}caster_wheel">
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<visual>
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<origin xyz="0 0 0" rpy="0 -0 0" />
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<geometry>
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<mesh filename="package://cps_loki_description/mesh/caster_link_visual.stl"/>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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<material name="caster_link_material">
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<color rgba="0.69513764518117548974 0.69513764518117548974 0.69513764518117548974 1.0"/>
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</material>
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<material name="white"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 -0 0" />
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<geometry>
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<mesh filename="package://cps_loki_description/mesh/caster_link_collision.stl"/>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="-0.0043392325658342043027 -0.026018163063004008662 -0.040087257391101506487" rpy="0 0 0"/>
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<mass value="0.4365196214157913146" />
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<inertia ixx="0.00065232223366267665706" ixy="-2.2812456870885095374e-05" ixz="-2.819328031928647945e-05" iyy="0.00051934268155350092177" iyz="-0.00016904771834628737077" izz="0.00028021186492738437085" />
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</inertial>
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<xacro:inertial_sphere mass="${caster_wheel_mass}" radius="${caster_wheel_radius}">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_sphere>
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</link>
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<!-- laser_link -->
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<link name="${prefix}laser_link">
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<visual>
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<origin xyz="0 0 0" rpy="${PI} -0 0" />
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<geometry>
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<mesh filename="package://cps_loki_description/mesh/laser_link_visual.stl"/>
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</geometry>
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<material name="laser_link_material">
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<color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="${PI} -0 0" />
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<geometry>
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<mesh filename="package://cps_loki_description/mesh/laser_link_collision.stl"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="8.0502568807622093404e-21 2.7755575615628913511e-17 -0.01526549883836261258" rpy="${PI} 0 0"/>
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<mass value="0.065307030550339775776" />
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<inertia ixx="1.578111853789072904e-05" ixy="-4.8590457654361857326e-53" ixz="1.0816309858643350309e-52" iyy="1.5781118537890654501e-05" iyz="9.8088682514084147142e-38" izz="1.9760068210357054465e-05" />
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</inertial>
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</link>
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<gazebo reference="caster_wheel">
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<material>Gazebo/White</material>
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<mu1 value="0.001"/>
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<mu2 value="0.001"/>
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</gazebo>
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<!-- laser_joint -->
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<!-- LASER -->
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<joint name="${prefix}laser_joint" type="fixed">
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<origin xyz="-0.015 0 0.09" rpy="0 0 0"/>
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<parent link="${prefix}base_link" />
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<child link="${prefix}laser_link" />
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<axis xyz="0 0 1"/>
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<limit effort="1" velocity="20" />
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<joint_properties friction="0.0"/>
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<parent link="${prefix}chassis"/>
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<child link="${prefix}laser_frame"/>
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<origin xyz="${chassis_length/2 - 0.15285} 0 ${chassis_height/2 + 0.030}" rpy="0 0 ${pi}"/>
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</joint>
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<link name="${prefix}laser_frame">
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<visual>
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<geometry>
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<cylinder radius="0.04" length="0.05"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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</collision>
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<xacro:inertial_sphere mass="${caster_wheel_mass}" radius="${caster_wheel_radius}">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_sphere>
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</link>
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<gazebo reference="laser_frame">
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<material>Gazebo/White</material>
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</gazebo>
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<!-- camera_link -->
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<link name="${prefix}camera_link">
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<visual>
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