<sdf version='1.6'>
<world name='default'>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<contact>
<collide_bitmask>65535</collide_bitmask>
<ode/>
</contact>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 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='ball'>
<pose frame=''>0 0 0 0 -0 0</pose>
<link name='link'>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<plugin name='model_push' filename='libmodel_push.so'/>
</model>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<wind/>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='turtlebot3_burger'>
<link name='base_footprint'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.00429 0 0.030734 0 -0 0</pose>
<mass>0.944735</mass>
<inertia>
<ixx>0.00717896</ixx>
<ixy>-1.22941e-05</ixy>
<ixz>0.00057674</ixz>
<iyy>0.00721804</iyy>
<iyz>-5.01209e-06</iyz>
<izz>0.00413858</izz>
</inertia>
</inertial>
<collision name='base_footprint_fixed_joint_lump__base_link_collision'>
<pose frame=''>-0.032 0 0.08 0 -0 0</pose>
<geometry>
<box>
<size>0.14 0.14 0.143</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<collision name='base_footprint_fixed_joint_lump__caster_back_link_collision_1'>
<pose frame=''>-0.081 1e-06 0.005 -1.57 0 0</pose>
<geometry>
<box>
<size>0.03 0.009 0.02</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<kp>1e+06</kp>
<kd>100</kd>
<max_vel>1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>0.1</mu>
<mu2>0.1</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<collision name='base_footprint_fixed_joint_lump__base_scan_collision_2'>
<pose frame=''>-0.017 0 0.1755 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.0315</length>
<radius>0.055</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='base_footprint_fixed_joint_lump__base_link_visual'>
<pose frame=''>-0.032 0 0.01 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>/home/dan/catkin_ws/src/turtlebot3/turtlebot3_description/meshes/bases/burger_base.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name='base_footprint_fixed_joint_lump__base_scan_visual_1'>
<pose frame=''>-0.032 0 0.182 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>/home/dan/catkin_ws/src/turtlebot3/turtlebot3_description/meshes/sensors/lds.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/FlatBlack</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<velocity_decay/>
<velocity_decay/>
<velocity_decay/>
<sensor name='imu' type='imu'>
<always_on>1</always_on>
<visualize>0</visualize>
<pose frame=''>-0.032 0 0.078 0 -0 0</pose>
<imu/>
</sensor>
<gravity>1</gravity>
<velocity_decay/>
<sensor name='lds_lfcd_sensor' type='ray'>
<visualize>0</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>0</min_angle>
<max_angle>6.28319</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.12</min>
<max>3.5</max>
<resolution>0.015</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name='gazebo_ros_lds_lfcd_controller' filename='libgazebo_ros_laser.so'>
<topicName>scan</topicName>
<frameName>base_scan</frameName>
<robotNamespace>/</robotNamespace>
</plugin>
<pose frame=''>-0.032 0 0.182 0 -0 0</pose>
</sensor>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='wheel_left_link'>
<pose frame=''>0 0.08 0.033 -1.57 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.0284989</mass>
<inertia>
<ixx>1.11756e-05</ixx>
<ixy>-4.23698e-11</ixy>
<ixz>-5.93817e-09</ixz>
<iyy>1.11924e-05</iyy>
<iyz>-1.44001e-11</iyz>
<izz>2.07126e-05</izz>
</inertia>
</inertial>
<collision name='wheel_left_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.018</length>
<radius>0.033</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<kp>500000</kp>
<kd>10</kd>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>0.1</mu>
<mu2>0.1</mu2>
<fdir1>1 0 0</fdir1>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='wheel_left_link_visual'>
<pose frame=''>0 0 0 1.57 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>/home/dan/catkin_ws/src/turtlebot3/turtlebot3_description/meshes/wheels/left_tire.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/FlatBlack</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='wheel_left_joint' type='revolute'>
<child>wheel_left_link</child>
<parent>base_footprint</parent>
<axis>
<xyz>0 1 0.000796</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='wheel_right_link'>
<pose frame=''>0 -0.08 0.033 -1.57 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.0284989</mass>
<inertia>
<ixx>1.11756e-05</ixx>
<ixy>-4.23698e-11</ixy>
<ixz>-5.93817e-09</ixz>
<iyy>1.11924e-05</iyy>
<iyz>-1.44001e-11</iyz>
<izz>2.07126e-05</izz>
</inertia>
</inertial>
<collision name='wheel_right_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.018</length>
<radius>0.033</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<kp>500000</kp>
<kd>10</kd>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>0.1</mu>
<mu2>0.1</mu2>
<fdir1>1 0 0</fdir1>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='wheel_right_link_visual'>
<pose frame=''>0 0 0 1.57 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>/home/dan/catkin_ws/src/turtlebot3/turtlebot3_description/meshes/wheels/right_tire.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/FlatBlack</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='wheel_right_joint' type='revolute'>
<child>wheel_right_link</child>
<parent>base_footprint</parent>
<axis>
<xyz>0 1 0.000796</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<plugin name='turtlebot3_burger_controller' filename='libgazebo_ros_diff_drive.so'>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometrySource>world</odometrySource>
<publishOdomTF>1</publishOdomTF>
<robotBaseFrame>base_footprint</robotBaseFrame>
<publishWheelTF>0</publishWheelTF>
<publishTf>1</publishTf>
<publishWheelJointState>1</publishWheelJointState>
<legacyMode>0</legacyMode>
<updateRate>30</updateRate>
<leftJoint>wheel_left_joint</leftJoint>
<rightJoint>wheel_right_joint</rightJoint>
<wheelSeparation>0.160</wheelSeparation>
<wheelDiameter>0.066</wheelDiameter>
<wheelAcceleration>1</wheelAcceleration>
<wheelTorque>10</wheelTorque>
<rosDebugLevel>na</rosDebugLevel>
<robotNamespace>/</robotNamespace>
</plugin>
<static>0</static>
<plugin name='imu_plugin' filename='libgazebo_ros_imu.so'>
<alwaysOn>1</alwaysOn>
<topicName>imu</topicName>
<serviceName>imu_service</serviceName>
<gaussianNoise>0.0</gaussianNoise>
<updateRate>200</updateRate>
<imu>
<noise>
<type>gaussian</type>
<rate>
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</rate>
<accel>
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</accel>
</noise>
</imu>
<robotNamespace>/</robotNamespace>
<bodyName>base_footprint</bodyName>
<frameName>base_footprint</frameName>
<xyzOffset>0.064 0 -0.156</xyzOffset>
<rpyOffset>0 -0 0</rpyOffset>
</plugin>
<pose frame=''>-1.03506 -1.03506 -0.001001 0 -0 0</pose>
</model>
<state world_name='default'>
<sim_time>0 0</sim_time>
<real_time>0 0</real_time>
<wall_time>1576692475 988471917</wall_time>
<iterations>0</iterations>
<model name='ball'>
<pose frame=''>0.047886 0.03486 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0.047886 0.03486 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='ball_clone'>
<pose frame=''>-0.22257 -0.105143 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-0.22257 -0.105143 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='ball_clone_0'>
<pose frame=''>-0.559003 -0.690534 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-0.559003 -0.690534 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='ball_clone_1'>
<pose frame=''>-0.945585 -1.29664 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-0.945585 -1.29664 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='turtlebot3_burger'>
<pose frame=''>0.757788 -2.07621 -0.001001 0 -0 1.58289</pose>
<scale>1 1 1</scale>
<link name='base_footprint'>
<pose frame=''>0.757788 -2.07621 -0.001001 0 -0 1.58289</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='wheel_left_link'>
<pose frame=''>0.67779 -2.07718 0.031999 -1.57 0 1.58289</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='wheel_right_link'>
<pose frame=''>0.837781 -2.07523 0.031999 -1.57 0 1.58289</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>0.551522 -1.22145 4.42768 -0 1.4698 -3.12699</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<model name='ball_clone'>
<pose frame=''>-0.340238 -0.312425 0 0 -0 0</pose>
<link name='link'>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<plugin name='model_push' filename='libmodel_push.so'/>
</model>
<model name='ball_clone_0'>
<pose frame=''>-0.6524 -0.607185 0 0 -0 0</pose>
<link name='link'>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<plugin name='model_push' filename='libmodel_push.so'/>
</model>
<model name='ball_clone_1'>
<pose frame=''>-1.00346 -0.902067 0 0 -0 0</pose>
<link name='link'>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<plugin name='model_push' filename='libmodel_push.so'/>
</model>
</world>
</sdf>