I feel like I've missed something fundamental as my robot totally shatters when I place it into the world. It also could just be late. =)
I'm using Gazebo 2.1 and SDF 1.4. My sdf is pasted below.
Any help would be greatly appreciated.
SDF:
<?xml version='1.0'?>
<sdf version='1.4'>
<model name="mark000">
<static>false</static>
<pose>0 0 0.105 0 0 0</pose>
<link name='chassis'>
<collision name='collision'>
<pose>0 0.205 0.074 0 0 0</pose>
<geometry>
<box>
<size>0.3075 0.655 0.206</size>
</box>
</geometry>
</collision>
<visual name="chassis-visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>file://chassis.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="caster_bracket">
<collision name='collision'>
<pose>-0.115 0.483 0.03022 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.06</radius>
<length>0.1426</length>
</cylinder>
</geometry>
<surface>
<contact>
<collide_without_contact>1</collide_without_contact>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>file://caster-brkt.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="caster_wheel">
<collision name='collision'>
<pose>-0.115 0.458 -0.04448 0 1.5707 0</pose>
<geometry>
<cylinder>
<radius>.061</radius>
<length>.061</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>file://caster-wheel.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="left_wheel">
<collision name="collision">
<pose>-0.182 0 0 0 1.5707 0</pose>
<geometry>
<cylinder>
<radius>.105</radius>
<length>.04</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0 0 0 3.14157</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>file://wheel-rear.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<link name="right_wheel">
<collision name="collision">
<pose>0.182 0 0 0 1.5707 0</pose>
<geometry>
<cylinder>
<radius>.105</radius>
<length>.04</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>file://wheel-rear.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint type="revolute" name="left_wheel_hinge">
<pose>-0.182 0 0 0 1.5707 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint type="revolute" name="right_wheel_hinge">
<pose>0.182 0 0 0 1.5707 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint type="revolute" name="caster_rotation_vertical">
<pose>-0.115 0.483 0.03022 0 0 0</pose>
<child>caster_bracket</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint type="revolute" name="caster_rotation_horizontal">
<pose>-0.115 0.458 -0.04448 0 1.5707 0</pose>
<child>caster_wheel</child>
<parent>caster_bracket</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
</model>
</sdf>
