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mecanum_drive.sdf
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<?xml version="1.0" ?>
<!--
Gazebo Mecanum drive plugin demo
Try sending commands:
gz topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 0.5, y: 0.5}"
gz topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "linear: {y: 0.5}, angular: {z: 0.2}"
-->
<sdf version="1.6">
<world name="mecanum_drive">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>50</mu>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
<model name='vehicle_blue' xmlns:gz="http://gazebosim.org/schema">
<pose>0 2 0.325 0 -0 0</pose>
<link name='chassis'>
<pose>-0.151427 -0 0.175 0 -0 0</pose>
<inertial>
<mass>1.14395</mass>
<inertia>
<ixx>0.126164</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.416519</iyy>
<iyz>0</iyz>
<izz>0.481014</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<box>
<size>2.01142 1 0.568726</size>
</box>
</geometry>
<material>
<ambient>0.5 0.5 1.0 1</ambient>
<diffuse>0.5 0.5 1.0 1</diffuse>
<specular>0.0 0.0 1.0 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<box>
<size>2.01142 1 0.568726</size>
</box>
</geometry>
</collision>
</link>
<link name='front_left_wheel'>
<pose>0.554283 0.625029 -0.025 -1.5707 0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
</inertial>
<visual name='visual'>
<pose>0 0 0 1.5707 0 0</pose>
<geometry>
<!--sphere>
<radius>0.3</radius>
</sphere-->
<!--box><size>0.6 0.6 0.6</size></box-->
<mesh>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
<scale>0.006 0.006 0.006</scale>
</mesh>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>0.0</mu2>
<fdir1 gz:expressed_in="chassis">1 -1 0</fdir1>
</ode>
</friction>
</surface>
</collision>
</link>
<link name='rear_left_wheel'>
<pose>-0.957138 0.625029 -0.025 -1.5707 0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
</inertial>
<visual name='visual'>
<pose>0 0 0 1.5707 0 0</pose>
<geometry>
<!--sphere>
<radius>0.3</radius>
</sphere-->
<!--box><size>0.6 0.6 0.6</size></box-->
<mesh>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
<scale>0.006 0.006 0.006</scale>
</mesh>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>0.0</mu2>
<fdir1 gz:expressed_in="chassis">1 1 0</fdir1>
</ode>
</friction>
</surface>
</collision>
</link>
<link name='front_right_wheel'>
<pose>0.554282 -0.625029 -0.025 -1.5707 0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
</inertial>
<visual name='visual'>
<pose>0 0 0 1.5707 0 0</pose>
<geometry>
<!--sphere>
<radius>0.3</radius>
</sphere-->
<!--box><size>0.6 0.6 0.6</size></box-->
<mesh>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
<scale>0.006 0.006 0.006</scale>
</mesh>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>0.0</mu2>
<fdir1 gz:expressed_in="chassis">1 1 0</fdir1>
</ode>
</friction>
</surface>
</collision>
</link>
<link name='rear_right_wheel'>
<pose>-0.957138 -0.625029 -0.025 -1.5707 0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
</inertial>
<visual name='visual'>
<pose>0 0 0 1.5707 0 0</pose>
<geometry>
<!--sphere>
<radius>0.3</radius>
</sphere-->
<!--box><size>0.6 0.6 0.6</size></box-->
<mesh>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
<scale>0.006 0.006 0.006</scale>
</mesh>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>0.0</mu2>
<fdir1 gz:expressed_in="chassis">1 -1 0</fdir1>
</ode>
</friction>
</surface>
</collision>
</link>
<joint name='front_left_wheel_joint' type='revolute'>
<parent>chassis</parent>
<child>front_left_wheel</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
</limit>
</axis>
</joint>
<joint name='front_right_wheel_joint' type='revolute'>
<parent>chassis</parent>
<child>front_right_wheel</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
</limit>
</axis>
</joint>
<joint name='rear_left_wheel_joint' type='revolute'>
<parent>chassis</parent>
<child>rear_left_wheel</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
</limit>
</axis>
</joint>
<joint name='rear_right_wheel_joint' type='revolute'>
<parent>chassis</parent>
<child>rear_right_wheel</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
</limit>
</axis>
</joint>
<plugin
filename="gz-sim-mecanum-drive-system"
name="gz::sim::systems::MecanumDrive">
<front_left_joint>front_left_wheel_joint</front_left_joint>
<front_right_joint>front_right_wheel_joint</front_right_joint>
<back_left_joint>rear_left_wheel_joint</back_left_joint>
<back_right_joint>rear_right_wheel_joint</back_right_joint>
<wheel_separation>1.25</wheel_separation>
<wheelbase>1.511</wheelbase>
<wheel_radius>0.3</wheel_radius>
<min_acceleration>-5</min_acceleration>
<max_acceleration>5</max_acceleration>
</plugin>
</model>
</world>
</sdf>