[issue #807] Added MBot model for gazebo simulator

src/drivers/gazeboserver/models/mbot/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>MBot</name>
+  <version>1.0</version>
+  <sdf version='1.5'>model.sdf</sdf>
+
+  <author>
+    <name>Andres Hernandez</name>
+    <email>andresjhe@gmail.com</email>
+  </author>
+
+  <description>
+    A description of the model
+  </description>
+</model>

src/drivers/gazeboserver/models/mbot/model.sdf

@@ -0,0 +1,114 @@
+<?xml version='1.0'?>
+<sdf version="1.5">
+<model name="mbot">
+    <link name="chasis">
+    	<pose>0 0 0 0 0 0</pose>
+    	<inertial>
+          	<mass>0.5</mass>
+          <inertia>
+            <ixx>1</ixx>
+          	<ixy>0</ixy>
+          	<iyy>1</iyy>
+          	<ixz>0</ixz>
+          	<iyz>0</iyz>
+          	<izz>1</izz>
+          </inertia>
+      	</inertial>
+      	<collision name="collision">
+          <geometry>
+            <mesh>
+              <uri>model://mbot/meshes/chasis.dae</uri>
+          	</mesh>
+          </geometry>
+       	</collision>
+      	<visual name="visual">
+          <geometry>
+            <mesh>
+              <uri>model://mbot/meshes/chasis.dae</uri>
+            </mesh>
+          </geometry>
+      	</visual>
+    </link>
+
+    <link name="right_wheel">
+          <pose>-0.003 -0.049 0.032 0 0 0</pose>
+          <inertial>
+          	<mass>0.08</mass>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <iyy>1</iyy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+      	</inertial>
+        <collision name="collision">
+          <pose>0 0 0 0 0 0 </pose>
+          <geometry>
+                          <mesh>
+              <uri>model://mbot/meshes/right_wheel.dae</uri>
+          	</mesh>
+                        </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <mesh>
+              <uri>model://mbot/meshes/right_wheel.dae</uri>
+          	</mesh>
+          </geometry>
+        </visual>
+    </link>
+    <link name="left_wheel">
+          <pose>-0.003 0.041 0.032 0 0 0</pose>
+          <inertial>
+            <mass>0.08</mass>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <iyy>1</iyy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <pose>0 0 0 0 0 0 </pose>
+          <geometry>
+                       <mesh>
+              <uri>model://mbot/meshes/left_wheel.dae</uri>
+            </mesh>
+                        </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <mesh>
+              <uri>model://mbot/meshes/left_wheel.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+    </link>
+
+    <joint type="revolute" name="right_wheel_hinge">
+        <pose>0 0 0 0 0 0</pose>
+        <child>right_wheel</child>
+        <parent>chasis</parent>
+        <axis>
+          <xyz>0 1 0</xyz>
+        </axis>
+    </joint>
+    <joint type="revolute" name="left_wheel_hinge">
+      <pose>0 0 0 0 0 0</pose>
+      <child>left_wheel</child>
+      <parent>chasis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+<!--<plugin name="carMotors" filename="libcarMotors.so"/>-->
+<!--<plugin name="pose3d" filename="libcarPose3D.so"/>-->
+
+  </model>
+</sdf>
+