<?xml version="1.0"?>

<robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot_gazebo">

<!-- ASUS Xtion PRO camera for simulation -->
<!-- gazebo_ros_wge100 plugin is in kt2_gazebo_plugins package -->
<xacro:macro name="turtlebot_sim_asus_xtion">
  <gazebo reference="camera_link" >
    <sensor:camera name="camera" >
      <imageSize>640 480</imageSize>
      <imageFormat>R8G8B8</imageFormat>
      <hfov>62.8</hfov>
      <nearClip>0.1</nearClip>
      <farClip>10</farClip>
      <updateRate>2.0</updateRate>
      <controller:gazebo_ros_wge100 name="kinect_camera_controller" plugin="libgazebo_ros_wge100.so">
	<alwaysOn>true</alwaysOn>
	<updateRate>5000.0</updateRate>
	<cameraName>camera/rgb</cameraName>
	<frameName>camera_rgb_optical_frame</frameName>
	<hackBaseline>0.0</hackBaseline>
	<CxPrime>320.5</CxPrime>
	<Cx>320.5</Cx>
	<Cy>240.5</Cy>
	<baseline>0.09</baseline>
	<!-- image_width / (2*tan(hfov_radian /2)) -->
	<!-- 320 for wide and 772.55 for narrow stereo camera -->
	<focal_length>525</focal_length>
	<cameraNamespace>camera/rgb</cameraNamespace>
	<depthData>true</depthData>
	<interface:camera name="camera_iface" />
      </controller:gazebo_ros_wge100>
    </sensor:camera>
  </gazebo>
</xacro:macro>

<xacro:macro name="turtlebot_sim_kinect">
  <gazebo reference="camera_link">
    <sensor:camera name="camera">
      <imageFormat>R8G8B8</imageFormat>
      <imageSize>640 480</imageSize>
      <hfov>60</hfov>
      <nearClip>0.05</nearClip>
      <farClip>3</farClip>
      <updateRate>20</updateRate>
      <baseline>0.1</baseline>
      <controller:gazebo_ros_openni_kinect name="kinect_camera_controller" plugin="libgazebo_ros_openni_kinect.so">
        <cameraName>kinect</cameraName>
        <alwaysOn>true</alwaysOn>
        <updateRate>20</updateRate>
        <imageTopicName>/camera/image_raw</imageTopicName>
        <pointCloudTopicName>/camera/depth/points</pointCloudTopicName>
        <cameraInfoTopicName>/camera/camera_info</cameraInfoTopicName>
        <frameName>camera_depth_optical_frame</frameName>
        <CxPrime>0.0</CxPrime>
        <Cx>0.0</Cx>
        <Cy>0.0</Cy>
        <focalLength>0.0</focalLength>
        <hackBaseline>0.0</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </controller:gazebo_ros_openni_kinect>
    </sensor:camera>
  </gazebo>
</xacro:macro>

<xacro:macro name="turtlebot_sim_imu">
  <gazebo>
    <controller:gazebo_ros_imu name="imu_controller" plugin="libgazebo_ros_imu.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>30</updateRate>
      <bodyName>gyro_link</bodyName>
      <topicName>imu/data</topicName>
      <serviceName>imu/service</serviceName>
      <gaussianNoise>${0.0017*0.0017}</gaussianNoise>
      <xyzOffset>0 0 0</xyzOffset> 
      <rpyOffset>0 0 0</rpyOffset>
      <interface:position name="imu_position"/>
    </controller:gazebo_ros_imu>
  </gazebo>
</xacro:macro>

<xacro:macro name="turtlebot_sim_laser">
  <gazebo reference="laser">
    <sensor:ray name="laser">
      <rayCount>180</rayCount>
      <rangeCount>180</rangeCount>
      <laserCount>1</laserCount>      
      <origin>0.0 0.0 0.0</origin>
      <displayRays>false</displayRays>      
      <minAngle>-130</minAngle>
      <maxAngle>130</maxAngle>      
      <minRange>0.08</minRange>
      <maxRange>10.0</maxRange>
      <resRange>0.01</resRange>
      <updateRate>20</updateRate>
      <controller:gazebo_ros_laser name="gazebo_ros_laser_controller" plugin="libgazebo_ros_laser.so">
				<gaussianNoise>0.005</gaussianNoise>
				<alwaysOn>true</alwaysOn>
				<updateRate>20</updateRate>
				<topicName>scan</topicName>
				<frameName>laser</frameName>
				<interface:laser name="gazebo_ros_laser_iface" />
				<hokuyoMinIntensity>101.0</hokuyoMinIntensity>
      </controller:gazebo_ros_laser>
    </sensor:ray>
  </gazebo>
</xacro:macro>

<xacro:macro name="turtlebot_sim_create">
  <gazebo>
    <controller:gazebo_ros_create name="create_controller" plugin="libgazebo_ros_create.so">
      <alwaysOn>true</alwaysOn>
      <node_namespace>turtlebot_node</node_namespace>
      <left_wheel_joint>left_wheel_joint</left_wheel_joint>
      <right_wheel_joint>right_wheel_joint</right_wheel_joint>
      <front_castor_joint>front_castor_joint</front_castor_joint>
      <rear_castor_joint>rear_castor_joint</rear_castor_joint>
      <wheel_separation>.260</wheel_separation>
      <wheel_diameter>0.066</wheel_diameter>
      <base_geom>base_link_geom_base_link</base_geom>
      <updateRate>40</updateRate>
      <torque>1.0</torque>
    </controller:gazebo_ros_create>
  </gazebo>
</xacro:macro>

<xacro:macro name="turtlebot_sim_wall_sensors">
  <gazebo reference="wall_sensor_link">
    <sensor:ray name="wall_sensor">
      <alwaysActive>true</alwaysActive>
      <rayCount>1</rayCount>
      <rangeCount>1</rangeCount>
      <resRange>0.1</resRange>

      <minAngle>0</minAngle>
      <maxAngle>0</maxAngle>

      <minRange>0.0160</minRange>
      <maxRange>0.04</maxRange>
      <displayRays>false</displayRays>
    </sensor:ray>
  </gazebo>

  <gazebo reference="left_cliff_sensor_link">
    <sensor:ray name="left_cliff_sensor">
      <alwaysActive>true</alwaysActive>
      <rayCount>1</rayCount>
      <rangeCount>1</rangeCount>
      <resRange>0.1</resRange>

      <minAngle>0</minAngle>
      <maxAngle>0</maxAngle>

      <minRange>0.01</minRange>
      <maxRange>0.04</maxRange>
      <displayRays>false</displayRays>
    </sensor:ray>
  </gazebo>

  <gazebo reference="right_cliff_sensor_link">
    <sensor:ray name="right_cliff_sensor">
      <alwaysActive>true</alwaysActive>
      <rayCount>1</rayCount>
      <rangeCount>1</rangeCount>
      <resRange>0.1</resRange>

      <minAngle>0</minAngle>
      <maxAngle>0</maxAngle>

      <minRange>0.01</minRange>
      <maxRange>0.04</maxRange>
      <displayRays>false</displayRays>
    </sensor:ray>
  </gazebo>


  <gazebo reference="leftfront_cliff_sensor_link">
    <sensor:ray name="leftfront_cliff_sensor">
      <alwaysActive>true</alwaysActive>
      <rayCount>1</rayCount>
      <rangeCount>1</rangeCount>
      <resRange>0.1</resRange>

      <minAngle>0</minAngle>
      <maxAngle>0</maxAngle>

      <minRange>0.01</minRange>
      <maxRange>0.04</maxRange>
      <displayRays>false</displayRays>
    </sensor:ray>
  </gazebo>

  <gazebo reference="rightfront_cliff_sensor_link">
    <sensor:ray name="rightfront_cliff_sensor">
      <alwaysActive>true</alwaysActive>
      <rayCount>1</rayCount>
      <rangeCount>1</rangeCount>
      <resRange>0.1</resRange>

      <minAngle>0</minAngle>
      <maxAngle>0</maxAngle>

      <minRange>0.01</minRange>
      <maxRange>0.04</maxRange>
      <displayRays>fan</displayRays>
    </sensor:ray>
  </gazebo>



  <gazebo reference="left_wheel_link">
    <mu1 value="10"/>
    <mu2 value="10"/>
    <kp value="100000000.0"/>
    <kd value="10000.0"/>
    <fdir value="1 0 0"/>
  </gazebo>

  <gazebo reference="right_wheel_link">
    <mu1 value="10"/>
    <mu2 value="10"/>
    <kp value="100000000.0"/>
    <kd value="10000.0"/>
    <fdir value="1 0 0"/>
  </gazebo>
  <gazebo reference="rear_wheel_link">
    <mu1 value="0"/>
    <mu2 value="0"/>
    <kp value="100000000.0"/>
    <kd value="10000.0"/>
  </gazebo>

  <gazebo reference="front_wheel_link">
    <mu1 value="0"/>
    <mu2 value="0"/>
    <kp value="100000000.0"/>
    <kd value="10000.0"/>
  </gazebo>
</xacro:macro>
</robot>
