Car Chassis
[Models]

The CarChassis model simulates a generic vehicle chassis with 4 wheels, rear wheel drive and front wheel steering.

libgazebo interfaces

This model supports the position interface.

Player drivers

Odometry information is available through the gz_position driver.

Attributes

The following attributes are supported.

id (string)
- The model ID string (used by libgazebo to identify models).
- Default: (empty)

xyz (float tuple, meters)
- Model position (x, y, z, in meters).
- Default: 0 0 0

rpy (float tuple, degrees)
- Model orientation in Euler angles: roll, pitch, yaw.
- Default: 0 0 0

gravity (bool)
- Enable/disable effect of gravity on this model
- Default: true

enable (bool)
- Enable/disable the model's bodies (so it doesn't fall, for example)
- Default: true

skinFile (string, filename)
- Specify an 3D geometry file to create an arbitrary appearance.
- Default: empty

skinXyz (float tuple, meters)
- Skin pose relative to the model
- Default: 0 0 0

skinRpy (float tuple, degrees)
- Skin rotation relative to the model in Euler angles: roll, pitch, yaw
- Default: 0.0 0.0 0.0

skinScale (float tuple, meters)
- Scale factor for skin file.
- Default: 1.0 1.0 1.0

Bodies

The following bodies are created by this model.

canonical
- The canonical (default) body.

Example

<model:CarChassis>
  <xyz>0 0 0</xyz>
</model:CarChassis>

Views

Authors

Andrew Howard

Last updated 12 September 2005 21:38:45