增加模型

Readme.md

@@ -34,6 +34,15 @@ sh add_2_boot.sh
 5. sudo apt install can-utils安装can应用环境
 
 
+# 文件说明
+1. .gitignore文件为忽略上传的文件，不用处理
+2. .catkin_workspace一些环境标注，自动生成不用处理
 
 
+# 复现步骤
 
+1. src文件内更新功能包hunter2_base文件
+2. 回到工作空间目录，catkin_make编译
+3. 使用命令roslaunch hunter2_base display.launch启动
+4. 打开rviz，add -> RobotMode增加可视化
+5. 选择全局坐标系为class

src/hunter2_base/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(hunter2_base)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

src/hunter2_base/config/joint_names_hunter2_base.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'front_steer_left_joint', 'front_left_wheel_joint', 'front_steer_right_joint', 'front_right_wheel_joint', 'left_rear_joint', 'right_rear_joint', ]

src/hunter2_base/launch/display.launch

@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="model" default="$(find hunter2_base)/urdf/hunter2_base.urdf"/>
+	<arg name="gui" default="true"/>
+	<param name="robot_description" textfile="$(arg model)"/>
+	<para name="use_gui" value="$(arg gui)"/>
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+</launch>

src/hunter2_base/package.xml

@@ -0,0 +1,21 @@
+<package format="2">
+  <name>hunter2_base</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for hunter2_base</p>
+    <p>This package contains configuration data, 3D models and launch files
+for hunter2_base robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>

src/hunter2_base/urdf/hunter2_base.urdf

@@ -0,0 +1,487 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="hunter2_base">
+  <link
+    name="chass">
+    <inertial>
+      <origin
+        xyz="0.0266989327622036 0.000409203500587652 -0.135901124750884"
+        rpy="0 0 0" />
+      <mass
+        value="6.02945169536679" />
+      <inertia
+        ixx="0.0332370959804736"
+        ixy="-1.013150489971E-06"
+        ixz="-0.00188859201421112"
+        iyy="0.111072002332437"
+        iyz="-5.13308150598312E-07"
+        izz="0.12660862809283" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/chass.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/chass.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="front_steer_left_link">
+    <inertial>
+      <origin
+        xyz="-0.012614 1.8116E-05 0.0023132"
+        rpy="0 0 0" />
+      <mass
+        value="7.8526" />
+      <inertia
+        ixx="0.063827"
+        ixy="1.5154E-07"
+        ixz="3.1921E-07"
+        iyy="0.063827"
+        iyz="2.9854E-08"
+        izz="0.11091" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_steer_left_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_steer_left_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="front_steer_left_joint"
+    type="revolute">
+    <origin
+      xyz="0.37142 0.29199 -0.1955"
+      rpy="1.5708 0 0" />
+    <parent
+      link="chass" />
+    <child
+      link="front_steer_left_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="front_left_wheel_link">
+    <inertial>
+      <origin
+        xyz="-6.5774E-06 2.0242E-05 -0.0096386"
+        rpy="0 0 0" />
+      <mass
+        value="7.7007" />
+      <inertia
+        ixx="0.063724"
+        ixy="-3.8745E-08"
+        ixz="2.2753E-07"
+        iyy="0.063724"
+        iyz="-4.88E-08"
+        izz="0.11072" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_left_wheel_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_left_wheel_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="front_left_wheel_joint"
+    type="continuous">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="front_steer_left_link" />
+    <child
+      link="front_left_wheel_link" />
+    <axis
+      xyz="0 0 1" />
+  </joint>
+  <link
+    name="front_steer_right_link">
+    <inertial>
+      <origin
+        xyz="-8.9374E-08 1.0997E-07 0.0095958"
+        rpy="0 0 0" />
+      <mass
+        value="7.696" />
+      <inertia
+        ixx="0.063704"
+        ixy="-6.3892E-08"
+        ixz="-2.0159E-08"
+        iyy="0.063704"
+        iyz="6.4721E-08"
+        izz="0.11068" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_steer_right_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_steer_right_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="front_steer_right_joint"
+    type="revolute">
+    <origin
+      xyz="0.37142 -0.29201 -0.1955"
+      rpy="1.5708 0 0" />
+    <parent
+      link="chass" />
+    <child
+      link="front_steer_right_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="front_right_wheel_link">
+    <inertial>
+      <origin
+        xyz="-9.1148E-08 1.1284E-07 0.0095049"
+        rpy="0 0 0" />
+      <mass
+        value="7.5613" />
+      <inertia
+        ixx="0.063626"
+        ixy="-6.4092E-08"
+        ixz="-2.0164E-08"
+        iyy="0.063626"
+        iyz="6.4721E-08"
+        izz="0.11054" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_right_wheel_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_right_wheel_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="front_right_wheel_joint"
+    type="continuous">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="front_steer_right_link" />
+    <child
+      link="front_right_wheel_link" />
+    <axis
+      xyz="0 0 -1" />
+  </joint>
+  <link
+    name="left_rear_link">
+    <inertial>
+      <origin
+        xyz="-8.826E-05 6.4342E-05 -0.0096491"
+        rpy="0 0 0" />
+      <mass
+        value="7.6692" />
+      <inertia
+        ixx="0.063699"
+        ixy="-2.542E-07"
+        ixz="2.638E-08"
+        iyy="0.063699"
+        iyz="-5.9934E-08"
+        izz="0.11067" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/left_rear_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/left_rear_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_rear_joint"
+    type="continuous">
+    <origin
+      xyz="-0.28 0.29249 -0.19558"
+      rpy="1.5708 0 0" />
+    <parent
+      link="chass" />
+    <child
+      link="left_rear_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="right_rear_link">
+    <inertial>
+      <origin
+        xyz="8.6344E-05 7.4488E-05 0.0097824"
+        rpy="0 0 0" />
+      <mass
+        value="7.7133" />
+      <inertia
+        ixx="0.06373"
+        ixy="2.5408E-07"
+        ixz="2.6379E-08"
+        iyy="0.06373"
+        iyz="5.9941E-08"
+        izz="0.11073" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/right_rear_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/right_rear_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_rear_joint"
+    type="continuous">
+    <origin
+      xyz="-0.28018 -0.29251 -0.19558"
+      rpy="1.5708 0.0026575 0" />
+    <parent
+      link="chass" />
+    <child
+      link="right_rear_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="front_steer_link">
+    <inertial>
+      <origin
+        xyz="0.049836 8.1046E-15 0.017912"
+        rpy="0 0 0" />
+      <mass
+        value="0.0049179" />
+      <inertia
+        ixx="1.6846E-07"
+        ixy="7.6396E-23"
+        ixz="-1.0974E-08"
+        iyy="7.549E-07"
+        iyz="-1.8957E-22"
+        izz="7.334E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_steer_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_steer_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="front_steer_joint"
+    type="fixed">
+    <origin
+      xyz="0.44792 -1.1431E-05 -0.121"
+      rpy="0 0 0" />
+    <parent
+      link="chass" />
+    <child
+      link="front_steer_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="rear_wheel_link">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/rear_wheel_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/rear_wheel_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rear_wheel_joint"
+    type="fixed">
+    <origin
+      xyz="-0.42408 -1.1431E-05 -0.085581"
+      rpy="0.0032313 0 0" />
+    <parent
+      link="chass" />
+    <child
+      link="rear_wheel_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>

src/hunter2_base/urdf/hunter2_base_gazebo.xacro

@@ -0,0 +1,535 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="hunter2_base">
+  <link
+    name="chass">
+    <inertial>
+      <origin
+        xyz="0.0266989327622036 0.000409203500587652 -0.135901124750884"
+        rpy="0 0 0" />
+      <mass
+        value="21.02945169536679" />
+      <inertia
+        ixx="0.0332370959804736"
+        ixy="-1.013150489971E-06"
+        ixz="-0.00188859201421112"
+        iyy="0.111072002332437"
+        iyz="-5.13308150598312E-07"
+        izz="0.12660862809283" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/chass.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/chass.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="front_steer_left_link">
+    <inertial>
+      <origin
+        xyz="-0.012614 1.8116E-05 0.0023132"
+        rpy="0 0 0" />
+      <mass
+        value="7.8526" />
+      <inertia
+        ixx="0.063827"
+        ixy="0"
+        ixz="0"
+        iyy="0.063827"
+        iyz="0"
+        izz="0.11091" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+      <cylinder length="0.001" radius="0.005"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+      <cylinder length="0.001" radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="front_steer_left_joint"
+    type="revolute">
+    <origin
+      xyz="0.37142 0.29199 -0.1955"
+      rpy="1.5708 0 0" />
+    <parent
+      link="chass" />
+    <child
+      link="front_steer_left_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.69"
+      upper="0.69"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="front_left_wheel_link">
+    <inertial>
+      <origin
+        xyz="-6.5774E-06 2.0242E-05 -0.0096386"
+        rpy="0 0 0" />
+      <mass
+        value="7.7007" />
+      <inertia
+        ixx="0.063724"
+        ixy="0"
+        ixz="0"
+        iyy="0.063724"
+        iyz="0"
+        izz="0.11072" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_left_wheel_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_left_wheel_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="front_left_wheel_joint"
+    type="continuous">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="front_steer_left_link" />
+    <child
+      link="front_left_wheel_link" />
+    <axis
+      xyz="0 0 -1" />
+      <dynamics damping="0.0" friction="15"/>
+  </joint>
+  <link
+    name="front_steer_right_link">
+    <inertial>
+      <origin
+        xyz="-8.9374E-08 1.0997E-07 0.0095958"
+        rpy="0 0 0" />
+      <mass
+        value="7.696" />
+      <inertia
+        ixx="0.063704"
+        ixy="0"
+        ixz="0"
+        iyy="0.063704"
+        iyz="0"
+        izz="0.11068" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+      <cylinder length="0.001" radius="0.005"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+      <cylinder length="0.001" radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="front_steer_right_joint"
+    type="revolute">
+    <origin
+      xyz="0.37142 -0.29201 -0.1955"
+      rpy="1.5708 0 0" />
+    <parent
+      link="chass" />
+    <child
+      link="front_steer_right_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.69"
+      upper="0.69"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="front_right_wheel_link">
+    <inertial>
+      <origin
+        xyz="-9.1148E-08 1.1284E-07 0.0095049"
+        rpy="0 0 0" />
+      <mass
+        value="7.5613" />
+      <inertia
+        ixx="0.063626"
+        ixy="0"
+        ixz="0"
+        iyy="0.063626"
+        iyz="0"
+        izz="0.11054" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 3.14 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_left_wheel_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/front_right_wheel_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="front_right_wheel_joint"
+    type="continuous">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="front_steer_right_link" />
+    <child
+      link="front_right_wheel_link" />
+    <axis
+      xyz="0 0 -1" />
+      <dynamics damping="0.0" friction="15"/>
+  </joint>
+  <link
+    name="left_rear_link">
+    <inertial>
+      <origin
+        xyz="-8.826E-05 6.4342E-05 -0.0096491"
+        rpy="0 0 0" />
+      <mass
+        value="7.6692" />
+      <inertia
+        ixx="0.063699"
+        ixy="0"
+        ixz="0"
+        iyy="0.063699"
+        iyz="0"
+        izz="0.11067" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/left_rear_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/left_rear_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_rear_joint"
+    type="continuous">
+    <origin
+      xyz="-0.28 0.29249 -0.19558"
+      rpy="1.5708 0 0" />
+    <parent
+      link="chass" />
+    <child
+      link="left_rear_link" />
+    <axis
+      xyz="0 0 -1" />
+     <dynamics damping="0.0" friction="15"/>
+  </joint>
+  <link
+    name="right_rear_link">
+    <inertial>
+      <origin
+        xyz="8.6344E-05 7.4488E-05 0.0097824"
+        rpy="0 0 0" />
+      <mass
+        value="7.7133" />
+      <inertia
+        ixx="0.06373"
+        ixy="0"
+        ixz="0"
+        iyy="0.06373"
+        iyz="0"
+        izz="0.11073" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/right_rear_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://hunter2_base/meshes/right_rear_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_rear_joint"
+    type="continuous">
+    <origin
+      xyz="-0.28018 -0.29251 -0.19558"
+      rpy="1.5708 0.0026575 0" />
+    <parent
+      link="chass" />
+    <child
+      link="right_rear_link" />
+    <axis
+      xyz="0 0 -1" />
+     <dynamics damping="0.0" friction="15"/>
+  </joint>
+  <link
+    name="front_steer_link">
+    <inertial>
+      <origin
+        xyz="0.049836 8.1046E-15 0.017912"
+        rpy="0 0 0" />
+      <mass
+        value="0.0049179" />
+      <inertia
+        ixx="1.6846E-07"
+        ixy="7.6396E-23"
+        ixz="-1.0974E-08"
+        iyy="7.549E-07"
+        iyz="-1.8957E-22"
+        izz="7.334E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+      <cylinder length="0.001" radius="0.005"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+      <cylinder length="0.001" radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="front_steer_joint"
+    type="revolute">
+    <origin
+      xyz="0.44792 -1.1431E-05 -0.121"
+      rpy="0 0 0" />
+    <parent
+      link="chass" />
+    <child
+      link="front_steer_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.72"
+      upper="0.72"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="rear_wheel_link">
+<inertial>
+      <origin
+        xyz="-0.02 0.0031269 -0.12735"
+        rpy="0 0 0" />
+      <mass
+        value="0.0049179" />
+      <inertia
+        ixx="1.1821E-06"
+        ixy="9.6965E-13"
+        ixz="-3.1553E-12"
+        iyy="9.5276E-07"
+        iyz="1.2428E-08"
+        izz="1.0913E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+      <cylinder length="0.001" radius="0.005"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+      <cylinder length="0.001" radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rear_wheel_joint"
+    type="continuous">
+    <origin
+      xyz="-0.42408 -1.1431E-05 -0.085581"
+      rpy="0.0032313 0 0" />
+    <parent
+      link="chass" />
+    <child
+      link="rear_wheel_link" />
+    <axis
+      xyz="0 0 1" />
+    <dynamics damping="0.0" friction="15"/>
+  </joint>
+  
+  <gazebo reference="front_left_wheel_link"> 
+    <mu1>0.8</mu1>
+    <mu2>0.8</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <minDepth>0.001</minDepth>
+    <maxVel>0.1</maxVel>
+    <fdir1>1 0 0</fdir1>
+      <material>Gazebo/Grey </material>
+      </gazebo>
+  <gazebo reference="front_right_wheel_link"> 
+      <mu1>0.8</mu1>
+    <mu2>0.8</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <minDepth>0.001</minDepth>
+    <maxVel>0.1</maxVel>
+    <fdir1>1 0 0</fdir1>
+      <material>Gazebo/Grey </material>
+      </gazebo>
+  <gazebo reference="right_rear_link"> 
+      <mu1>0.8</mu1>
+    <mu2>10</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <minDepth>0.001</minDepth>
+    <maxVel>0.1</maxVel>
+    <fdir1>1 0 0</fdir1>
+      <material>Gazebo/Grey </material>
+      </gazebo>
+  <gazebo reference="left_rear_link"> 
+      <mu1>0.8</mu1>
+    <mu2>10</mu2>
+    <kp>10000000.0</kp>
+    <kd>1.0</kd>
+    <minDepth>0.001</minDepth>
+    <maxVel>0.1</maxVel>
+    <fdir1>1 0 0</fdir1>
+      <material>Gazebo/Grey </material>
+      </gazebo>
+
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+      <robotSimType>steer_bot_hardware_gazebo/SteerBotHardwareGazebo</robotSimType>
+      <legacyModeNS>false</legacyModeNS>
+    </plugin>
+  </gazebo>
+
+
+
+
+</robot>

src/rivz/model.rviz

@@ -0,0 +1,180 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 716
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        chass:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_steer_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_steer_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_steer_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_rear_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_rear_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: chass
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 5.567689418792725
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6947965025901794
+      Target Frame: <Fixed Frame>
+      Yaw: 4.694470405578613
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000019100000358fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e00000358000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000358fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e00000358000000a600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006b80000003efc0100000002fb0000000800540069006d00650100000000000006b80000031f00fffffffb0000000800540069006d00650100000000000004500000000000000000000005210000035800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1720
+  X: 887
+  Y: 305