<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from last_mile_robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- Last Mile Delivery Robot - JKU -->
<robot name="Last_Mile_Robot">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="gray">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<material name="darkgray">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="brown">
<color rgba="0.59 0.29 0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="yellow">
<color rgba="0.8 0.8 0.0 1.0"/>
</material>
<!-- Colours -->
<gazebo reference="chassis">
<material>Gazebo/Wood</material>
</gazebo>
<gazebo reference="front_right">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="front_left">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="rear_right">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="rear_left">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="front_right_ext">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="front_left_ext">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="rear_right_ext">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="rear_left_ext">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="front_right_ext2">
<material>Gazebo/Yellow</material>
</gazebo>
<gazebo reference="front_left_ext2">
<material>Gazebo/Yellow</material>
</gazebo>
<gazebo reference="rear_right_ext2">
<material>Gazebo/Yellow</material>
</gazebo>
<gazebo reference="rear_left_ext2">
<material>Gazebo/Yellow</material>
</gazebo>
<gazebo reference="front_right_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="front_left_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="rear_right_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="rear_left_wheel">
<material>Gazebo/FlatBlack</material>
</gazebo>
<!-- Controllers -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control"/>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_synchronous_drive.so" name="synchronous_drive_controller">
<rosDebugLevel>Debug</rosDebugLevel>
<tfPrefix/>
<velocityTopic>cmd_vel</velocityTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>base_link</robotBaseFrame>
<updateRate>20.0</updateRate>
<wheelSeparation>1.237</wheelSeparation>
<wheelDiameter>0.42</wheelDiameter>
<wheelTorque>200</wheelTorque>
<wheelAcceleration>200</wheelAcceleration>
<publishWheelTF>true</publishWheelTF>
<publishOdomTF>true</publishOdomTF>
<publishWheelJointState>true</publishWheelJointState>
<odometrySource>world</odometrySource>
<!-- world or encoder -->
<leftFrontJoint>front_left_wheel_hinge</leftFrontJoint>
<rightFrontJoint>front_right_wheel_hinge</rightFrontJoint>
<leftRearJoint>rear_left_wheel_hinge</leftRearJoint>
<rightRearJoint>rear_right_wheel_hinge</rightRearJoint>
<turnTorque>200</turnTorque>
<leftFrontTurnJoint>front_left_hinge</leftFrontTurnJoint>
<rightFrontTurnJoint>front_right_hinge</rightFrontTurnJoint>
<leftRearTurnJoint>rear_left_hinge</leftRearTurnJoint>
<rightRearTurnJoint>rear_right_hinge</rightRearTurnJoint>
<publishTf>1</publishTf>
</plugin>
</gazebo>
<link name="base_link"/>
<link name="chassis">
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<box size=".65 .65 .05"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<box size=".65 .65 .05"/>
</geometry>
<material name="brown"/>
</visual>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<mass value="150"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="chassis_joint" type="fixed">
<origin xyz="0.0 0.0 0.75"/>
<parent link="base_link"/>
<child link="chassis"/>
</joint>
<!-- bis hier ists ok -->
<link name="front_right">
<collision>
<geometry>
<cylinder length="0.55" radius="0.05"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.55" radius="0.05"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="front_right_hinge" type="continuous">
<!--continuous-->
<parent link="chassis"/>
<child link="front_right"/>
<axis xyz="0 0 1"/>
<origin rpy="0.0 0.0 0.0" xyz="0.325 -0.325 -0.30"/>
<limit effort="0.1" velocity="0.1"/>
</joint>
<link name="front_left">
<collision>
<geometry>
<cylinder length="0.55" radius="0.05"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.55" radius="0.05"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="front_left_hinge" type="continuous">
<!--continuous-->
<parent link="chassis"/>
<child link="front_left"/>
<axis xyz="0 0 1"/>
<origin xyz="0.325 0.325 -0.30"/>
<limit effort="0.1" velocity="0.1"/>
</joint>
<link name="rear_right">
<collision>
<geometry>
<cylinder length="0.55" radius="0.05"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.55" radius="0.05"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="rear_right_hinge" type="fixed">
<!--continuous-->
<parent link="chassis"/>
<child link="rear_right"/>
<axis xyz="0 0 1"/>
<origin xyz="-0.325 -0.325 -0.30"/>
</joint>
<link name="rear_left">
<collision>
<geometry>
<cylinder length="0.55" radius="0.05"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.55" radius="0.05"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="10.0" ixy="0.0" ixz="0.0" iyy="10.0" iyz="0.0" izz="10.0"/>
</inertial>
</link>
<joint name="rear_left_hinge" type="fixed">
<!--continuous-->
<parent link="chassis"/>
<child link="rear_left"/>
<axis xyz="0 0 1"/>
<origin xyz="-0.325 0.325 -0.30"/>
</joint>
<link name="front_right_tilt"/>
<joint name="front_right_tilt_joint" type="fixed">
<origin rpy="0.785398163397 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>
<parent link="front_right"/>
<child link="front_right_tilt"/>
</joint>
<link name="front_right_ext">
<collision name="front_right_ext_collision">
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="front_right_ext_hinge" type="fixed">
<origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225 "/>
<parent link="front_right_tilt"/>
<child link="front_right_ext"/>
<axis xyz="0 0 0"/>
</joint>
<link name="front_right_tilt2"/>
<joint name="front_right_tilt2_joint" type="fixed">
<origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>
<parent link="front_right_ext"/>
<child link="front_right_tilt2"/>
</joint>
<link name="front_right_ext2">
<collision name="front_right_ext2_collision">
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
<material name="yellow"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="front_right_ext2_joint" type="fixed">
<origin rpy="0 0 0.785398163397" xyz="0.0 0.0 -0.16"/>
<parent link="front_right_tilt2"/>
<child link="front_right_ext2"/>
<axis xyz="0 0 1"/>
</joint>
<link name="front_right_wheel">
<collision name="front_right_wheel_collision">
<geometry>
<cylinder length="0.15" radius="0.21"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.15" radius="0.21"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="front_right_wheel_hinge" type="continuous">
<origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>
<parent link="front_right_ext2"/>
<child link="front_right_wheel"/>
<axis xyz="0 0 1"/>
</joint>
<link name="front_left_tilt"/>
<joint name="front_left_tilt_joint" type="fixed">
<origin rpy="-0.785398163397 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>
<parent link="front_left"/>
<child link="front_left_tilt"/>
</joint>
<link name="front_left_ext">
<collision name="front_left_ext_collision">
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="front_left_ext_hinge" type="fixed">
<origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>
<parent link="front_left_tilt"/>
<child link="front_left_ext"/>
<axis xyz="0 0 0"/>
</joint>
<link name="front_left_tilt2"/>
<joint name="front_left_tilt2_joint" type="fixed">
<origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>
<parent link="front_left_ext"/>
<child link="front_left_tilt2"/>
</joint>
<link name="front_left_ext2">
<collision name="front_left_ext2_collision">
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
<material name="yellow"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="front_left_ext2_joint" type="fixed">
<origin rpy="0 0 -0.785398163397" xyz="0.0 0.0 -0.16"/>
<parent link="front_left_tilt2"/>
<child link="front_left_ext2"/>
<axis xyz="0 0 1"/>
</joint>
<link name="front_left_wheel">
<collision name="front_left_wheel_collision">
<geometry>
<cylinder length="0.15" radius="0.21"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.15" radius="0.21"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="front_left_wheel_hinge" type="continuous">
<origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>
<parent link="front_left_ext2"/>
<child link="front_left_wheel"/>
<axis xyz="0 0 1"/>
</joint>
<link name="rear_right_tilt"/>
<joint name="rear_right_tilt_joint" type="fixed">
<origin rpy="2.35619449019 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>
<parent link="rear_right"/>
<child link="rear_right_tilt"/>
</joint>
<link name="rear_right_ext">
<collision name="rear_right_ext_collision">
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="rear_right_ext_hinge" type="fixed">
<origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>
<parent link="rear_right_tilt"/>
<child link="rear_right_ext"/>
<axis xyz="0 0 0"/>
</joint>
<link name="rear_right_tilt2"/>
<joint name="rear_right_tilt2_joint" type="fixed">
<origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>
<parent link="rear_right_ext"/>
<child link="rear_right_tilt2"/>
</joint>
<link name="rear_right_ext2">
<collision name="rear_right_ext2_collision">
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
<material name="yellow"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="rear_right_ext2_joint" type="fixed">
<origin rpy="0 0 2.35619449019" xyz="0.0 0.0 -0.16"/>
<parent link="rear_right_tilt2"/>
<child link="rear_right_ext2"/>
<axis xyz="0 0 1"/>
</joint>
<link name="rear_right_wheel">
<collision name="rear_right_wheel_collision">
<geometry>
<cylinder length="0.15" radius="0.21"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.15" radius="0.21"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="rear_right_wheel_hinge" type="continuous">
<origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>
<parent link="rear_right_ext2"/>
<child link="rear_right_wheel"/>
<axis xyz="0 0 1"/>
</joint>
<link name="rear_left_tilt"/>
<joint name="rear_left_tilt_joint" type="fixed">
<origin rpy="-2.35619449019 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>
<parent link="rear_left"/>
<child link="rear_left_tilt"/>
</joint>
<link name="rear_left_ext">
<collision name="rear_left_ext_collision">
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="rear_left_ext_hinge" type="fixed">
<origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>
<parent link="rear_left_tilt"/>
<child link="rear_left_ext"/>
<axis xyz="0 0 0"/>
</joint>
<link name="rear_left_tilt2"/>
<joint name="rear_left_tilt2_joint" type="fixed">
<origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>
<parent link="rear_left_ext"/>
<child link="rear_left_tilt2"/>
</joint>
<link name="rear_left_ext2">
<collision name="rear_left_ext2_collision">
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.4" radius="0.05"/>
</geometry>
<material name="yellow"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="rear_left_ext2_joint" type="fixed">
<origin rpy="0 0 -2.35619449019" xyz="0.0 0.0 -0.16"/>
<parent link="rear_left_tilt2"/>
<child link="rear_left_ext2"/>
<axis xyz="0 0 1"/>
</joint>
<link name="rear_left_wheel">
<collision name="rear_left_wheel_collision">
<geometry>
<cylinder length="0.15" radius="0.21"/>
</geometry>
</collision>
<visual>
<geometry>
<cylinder length="0.15" radius="0.21"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="rear_left_wheel_hinge" type="continuous">
<origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>
<parent link="rear_left_ext2"/>
<child link="rear_left_wheel"/>
<axis xyz="0 0 1"/>
</joint>
</robot>