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Fixes materials.
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Signed-off-by: Franco Cipollone <[email protected]>
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@francocipollone
francocipollone committed Apr 12, 2024
1 parent 9b7cb12 commit 969d2f2
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Showing 2 changed files with 79 additions and 22 deletions.
2 changes: 1 addition & 1 deletion andino_gz/urdf/andino_gz.urdf.xacro
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Expand Up @@ -75,6 +75,6 @@
</sensor>
</gazebo>

<!-- <xacro:include filename="$(find andino_gz)/urdf/include/andino_materials.xacro"/> -->
<xacro:include filename="$(find andino_gz)/urdf/include/andino_materials.xacro"/>

</robot>
99 changes: 78 additions & 21 deletions andino_gz/urdf/include/andino_materials.xacro
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Expand Up @@ -3,62 +3,119 @@

<!-- Chassis -->
<gazebo reference="base_link">
<visual>
<material>
<diffuse> 0.039215686 0.423529412 1 1 </diffuse>
<ambient> 0.039215686 0.423529412 1 1 </ambient>
<specular> 0.039215686 0.423529412 1 1 </specular>
<ambient>0.0 0.0 1.0 1.0</ambient>
<diffuse>0.0 0.0 1.0 1.0</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
</gazebo>
<gazebo reference="second_base_link">
<visual>
<material>
<diffuse> 0.039215686 0.423529412 1 1 </diffuse>
<ambient> 0.039215686 0.423529412 1 1 </ambient>
<specular> 0.039215686 0.423529412 1 1 </specular>
<ambient>0.0 0.0 1.0 1.0</ambient>
<diffuse>0.0 0.0 1.0 1.0</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
</gazebo>
<!-- Wheels -->
<gazebo reference="left_wheel">
<visual>
<material>
<diffuse> 0 0 0 1 </diffuse>
<ambient> 0 0 0 1 </ambient>
<specular> 0 0 0 1 </specular>
<ambient>0.1 0.1 0.1 1.0</ambient>
<diffuse>0.02 0.02 0.02 1.0</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
</gazebo>
<gazebo reference="right_wheel">
<visual>
<material>
<diffuse> 0 0 0 1 </diffuse>
<ambient> 0 0 0 1 </ambient>
<specular> 0 0 0 1 </specular>
<ambient>0.1 0.1 0.1 1.0</ambient>
<diffuse>0.02 0.02 0.02 1.0</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
</gazebo>
<!-- Caster wheel -->
<gazebo reference="caster_rotation_link">
<material>Gazebo/White</material>
<visual>
<material>
<ambient>0.2 0.2 0.2 1.0</ambient>
<diffuse>0.3 0.3 0.3 1.0</diffuse>
<specular>0.9 0.9 0.9 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
</gazebo>
<gazebo reference="caster_base_link">
<material>Gazebo/White</material>
<visual>
<material>
<ambient>0.2 0.2 0.2 1.0</ambient>
<diffuse>0.3 0.3 0.3 1.0</diffuse>
<specular>0.9 0.9 0.9 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
</gazebo>
<gazebo reference="caster_wheel_link">
<visual>
<material>
<diffuse> 0 0 0 1 </diffuse>
<ambient> 0 0 0 1 </ambient>
<specular> 0 0 0 1 </specular>
<ambient>0.1 0.1 0.1 1.0</ambient>
<diffuse>0.02 0.02 0.02 1.0</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
</gazebo>
<!-- Motors -->
<gazebo reference="left_motor">
<material>Gazebo/BlueGlow</material>
<visual>
<material>
<ambient>0.0 0.3 1.0 1.0</ambient>
<diffuse>0.0 0.3 1.0 1.0</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
</gazebo>
<gazebo reference="right_motor">
<material>Gazebo/BlueGlow</material>
<visual>
<material>
<ambient>0.0 0.3 1.0 1.0</ambient>
<diffuse>0.0 0.3 1.0 1.0</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
</gazebo>
<!-- Camera -->
<gazebo reference="camera_link">
<material>Gazebo/Blue</material>
<visual>
<material>
<ambient>0.0 0.0 1.0 1.0</ambient>
<diffuse>0.0 0.0 1.0 1.0</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
</gazebo>
<!-- Lidar -->
<gazebo reference="rplidar_laser_link">
<material>Ignition/Black</material>
<visual>
<material>
<ambient>0.1 0.1 0.1 1.0</ambient>
<diffuse>0.02 0.02 0.02 1.0</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
<emissive>0.0 0.0 0.0 1.0</emissive>
</material>
</visual>
</gazebo>

</robot>

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