diff --git a/nav2_system_tests/src/updown/test_updown_launch.py b/nav2_system_tests/src/updown/test_updown_launch.py
index 1e2b4891ef47a91a7dd14f7b5577d0d294f3d4f4..8f75db644eb0919d57484aa7b5eb6b08da91c961 100755
--- a/nav2_system_tests/src/updown/test_updown_launch.py
+++ b/nav2_system_tests/src/updown/test_updown_launch.py
@@ -40,7 +40,7 @@ def generate_launch_description():
declare_urdf_cmd = launch.actions.DeclareLaunchArgument(
'urdf',
default_value=[launch.substitutions.ThisLaunchFileDir(),
- '/../../urdf/turtlebot3_burger.urdf'],
+ '/../../urdf/turtlebot3_waffle.urdf'],
description='Full path to model file to load')
launch_dir = os.path.join(
diff --git a/nav2_system_tests/worlds/turtlebot3_ros2_demo.world b/nav2_system_tests/worlds/turtlebot3_ros2_demo.world
index 461dd137daf7652c43dde78705bb4cb7ae6d78ab..9e2cd7ce27f6e2ee6ff8426c39b3c6e224c02109 100644
--- a/nav2_system_tests/worlds/turtlebot3_ros2_demo.world
+++ b/nav2_system_tests/worlds/turtlebot3_ros2_demo.world
@@ -58,7 +58,7 @@
<link name="base_link">
<inertial>
- <pose>-0.032 0 0.070 0 0 0</pose>
+ <pose>-0.064 0 0.048 0 0 0</pose>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
@@ -71,19 +71,19 @@
</inertial>
<collision name="base_collision">
- <pose>-0.032 0 0.070 0 0 0</pose>
+ <pose>-0.064 0 0.048 0 0 0</pose>
<geometry>
<box>
- <size>0.140 0.140 0.140</size>
+ <size>0.265 0.265 0.089</size>
</box>
</geometry>
</collision>
<visual name="base_visual">
- <pose>-0.032 0 0 0 0 0</pose>
+ <pose>-0.064 0 0 0 0 0</pose>
<geometry>
<mesh>
- <uri>model://turtlebot3_burger/meshes/burger_base.dae</uri>
+ <uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
@@ -149,7 +149,7 @@
<link name="base_scan">
<inertial>
- <pose>-0.020 0 0.161 0 0 0</pose>
+ <pose>-0.052 0 0.111 0 0 0</pose>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
@@ -162,7 +162,7 @@
</inertial>
<collision name="lidar_sensor_collision">
- <pose>-0.020 0 0.161 0 0 0</pose>
+ <pose>-0.064 0 0.121 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.0508</radius>
@@ -175,7 +175,7 @@
<pose>-0.032 0 0.171 0 0 0</pose>
<geometry>
<mesh>
- <uri>model://turtlebot3_burger/meshes/lds.dae</uri>
+ <uri>model://turtlebot3_waffle/meshes/lds.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
@@ -184,7 +184,7 @@
<sensor name="hls_lfcd_lds" type="ray">
<always_on>true</always_on>
<visualize>false</visualize>
- <pose>-0.032 0 0.171 0 0 0</pose>
+ <pose>-0.064 0 0.121 0 0 0</pose>
<update_rate>5</update_rate>
<ray>
<scan>
@@ -221,7 +221,7 @@
<link name="wheel_left_link">
<inertial>
- <pose>0 0.08 0.023 -1.57 0 0</pose>
+ <pose>0.0 0.144 0.023 -1.57 0 0</pose>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
@@ -234,7 +234,7 @@
</inertial>
<collision name="wheel_left_collision">
- <pose>0 0.08 0.023 -1.57 0 0</pose>
+ <pose>0.0 0.144 0.023 -1.57 0 0</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
@@ -266,10 +266,10 @@
</collision>
<visual name="wheel_left_visual">
- <pose>0 0.08 0.023 0 0 0</pose>
+ <pose>0.0 0.144 0.023 0 0 0</pose>
<geometry>
<mesh>
- <uri>model://turtlebot3_burger/meshes/left_tire.dae</uri>
+ <uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
@@ -279,7 +279,7 @@
<link name="wheel_right_link">
<inertial>
- <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+ <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
@@ -292,7 +292,7 @@
</inertial>
<collision name="wheel_right_collision">
- <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+ <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
@@ -324,18 +324,52 @@
</collision>
<visual name="wheel_right_visual">
- <pose>0.0 -0.08 0.023 0 0 0</pose>
+ <pose>0.0 -0.144 0.023 0 0 0</pose>
<geometry>
<mesh>
- <uri>model://turtlebot3_burger/meshes/right_tire.dae</uri>
+ <uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
</visual>
</link>
- <link name='caster_back_link'>
- <pose>-0.081 0 -0.004 0 0 0</pose>
+ <link name='caster_back_right_link'>
+ <pose>-0.177 -0.064 -0.004 0 0 0</pose>
+ <inertial>
+ <mass>0.001</mass>
+ <inertia>
+ <ixx>0.00001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.00001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.00001</izz>
+ </inertia>
+ </inertial>
+ <collision name='collision'>
+ <geometry>
+ <sphere>
+ <radius>0.005000</radius>
+ </sphere>
+ </geometry>
+ <surface>
+ <contact>
+ <ode>
+ <soft_cfm>0</soft_cfm>
+ <soft_erp>0.2</soft_erp>
+ <kp>1e+5</kp>
+ <kd>1</kd>
+ <max_vel>0.01</max_vel>
+ <min_depth>0.001</min_depth>
+ </ode>
+ </contact>
+ </surface>
+ </collision>
+ </link>
+
+ <link name='caster_back_left_link'>
+ <pose>-0.177 0.064 -0.004 0 0 0</pose>
<inertial>
<mass>0.001</mass>
<inertia>
@@ -377,7 +411,7 @@
<joint name="wheel_left_joint" type="revolute">
<parent>base_link</parent>
<child>wheel_left_link</child>
- <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+ <pose>0.0 0.144 0.023 -1.57 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
@@ -386,15 +420,20 @@
<joint name="wheel_right_joint" type="revolute">
<parent>base_link</parent>
<child>wheel_right_link</child>
- <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+ <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
- <joint name='caster_back_joint' type='ball'>
+ <joint name='caster_back_right_joint' type='ball'>
+ <parent>base_link</parent>
+ <child>caster_back_right_link</child>
+ </joint>
+
+ <joint name='caster_back_left_joint' type='ball'>
<parent>base_link</parent>
- <child>caster_back_link</child>
+ <child>caster_back_left_link</child>
</joint>
<joint name="imu_joint" type="fixed">
@@ -409,7 +448,7 @@
<joint name="lidar_joint" type="fixed">
<parent>base_link</parent>
<child>base_scan</child>
- <pose>-0.032 0 0.171 0 0 0</pose>
+ <pose>-0.064 0 0.121 0 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
@@ -426,7 +465,7 @@
<right_joint>wheel_right_joint</right_joint>
<!-- kinematics -->
- <wheel_separation>0.160</wheel_separation>
+ <wheel_separation>0.287</wheel_separation>
<wheel_diameter>0.066</wheel_diameter>
<!-- limits -->
diff --git a/nav2_system_tests/worlds/turtlebot3_ros2_demo_obstacle.world b/nav2_system_tests/worlds/turtlebot3_ros2_demo_obstacle.world
index 0ae12a416a3633c2e00da695217197dfea6c3f82..eed22268175e0ccc367bdb5103e5db35b43bde2e 100644
--- a/nav2_system_tests/worlds/turtlebot3_ros2_demo_obstacle.world
+++ b/nav2_system_tests/worlds/turtlebot3_ros2_demo_obstacle.world
@@ -58,7 +58,7 @@
<link name="base_link">
<inertial>
- <pose>-0.032 0 0.070 0 0 0</pose>
+ <pose>-0.064 0 0.048 0 0 0</pose>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
@@ -71,19 +71,19 @@
</inertial>
<collision name="base_collision">
- <pose>-0.032 0 0.070 0 0 0</pose>
+ <pose>-0.064 0 0.048 0 0 0</pose>
<geometry>
<box>
- <size>0.140 0.140 0.140</size>
+ <size>0.265 0.265 0.089</size>
</box>
</geometry>
</collision>
<visual name="base_visual">
- <pose>-0.032 0 0 0 0 0</pose>
+ <pose>-0.064 0 0 0 0 0</pose>
<geometry>
<mesh>
- <uri>model://turtlebot3_burger/meshes/burger_base.dae</uri>
+ <uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
@@ -149,7 +149,7 @@
<link name="base_scan">
<inertial>
- <pose>-0.020 0 0.161 0 0 0</pose>
+ <pose>-0.052 0 0.111 0 0 0</pose>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
@@ -172,10 +172,10 @@
</collision>
<visual name="lidar_sensor_visual">
- <pose>-0.032 0 0.171 0 0 0</pose>
+ <pose>-0.064 0 0.121 0 0 0</pose>
<geometry>
<mesh>
- <uri>model://turtlebot3_burger/meshes/lds.dae</uri>
+ <uri>model://turtlebot3_waffle/meshes/lds.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
@@ -184,7 +184,7 @@
<sensor name="hls_lfcd_lds" type="ray">
<always_on>true</always_on>
<visualize>false</visualize>
- <pose>-0.032 0 0.171 0 0 0</pose>
+ <pose>-0.064 0 0.121 0 0 0</pose>
<update_rate>5</update_rate>
<ray>
<scan>
@@ -221,7 +221,7 @@
<link name="wheel_left_link">
<inertial>
- <pose>0 0.08 0.023 -1.57 0 0</pose>
+ <pose>0.0 0.144 0.023 -1.57 0 0</pose>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
@@ -234,7 +234,7 @@
</inertial>
<collision name="wheel_left_collision">
- <pose>0 0.08 0.023 -1.57 0 0</pose>
+ <pose>0.0 0.144 0.023 -1.57 0 0</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
@@ -266,10 +266,10 @@
</collision>
<visual name="wheel_left_visual">
- <pose>0 0.08 0.023 0 0 0</pose>
+ <pose>0.0 0.144 0.023 0 0 0</pose>
<geometry>
<mesh>
- <uri>model://turtlebot3_burger/meshes/left_tire.dae</uri>
+ <uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
@@ -279,7 +279,7 @@
<link name="wheel_right_link">
<inertial>
- <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+ <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
@@ -292,7 +292,7 @@
</inertial>
<collision name="wheel_right_collision">
- <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+ <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
@@ -324,18 +324,52 @@
</collision>
<visual name="wheel_right_visual">
- <pose>0.0 -0.08 0.023 0 0 0</pose>
+ <pose>0.0 -0.144 0.023 0 0 0</pose>
<geometry>
<mesh>
- <uri>model://turtlebot3_burger/meshes/right_tire.dae</uri>
+ <uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
</visual>
</link>
- <link name='caster_back_link'>
- <pose>-0.081 0 -0.004 0 0 0</pose>
+ <link name='caster_back_right_link'>
+ <pose>-0.177 -0.064 -0.004 0 0 0</pose>
+ <inertial>
+ <mass>0.001</mass>
+ <inertia>
+ <ixx>0.00001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.00001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.00001</izz>
+ </inertia>
+ </inertial>
+ <collision name='collision'>
+ <geometry>
+ <sphere>
+ <radius>0.005000</radius>
+ </sphere>
+ </geometry>
+ <surface>
+ <contact>
+ <ode>
+ <soft_cfm>0</soft_cfm>
+ <soft_erp>0.2</soft_erp>
+ <kp>1e+5</kp>
+ <kd>1</kd>
+ <max_vel>0.01</max_vel>
+ <min_depth>0.001</min_depth>
+ </ode>
+ </contact>
+ </surface>
+ </collision>
+ </link>
+
+ <link name='caster_back_left_link'>
+ <pose>-0.177 0.064 -0.004 0 0 0</pose>
<inertial>
<mass>0.001</mass>
<inertia>
@@ -377,7 +411,7 @@
<joint name="wheel_left_joint" type="revolute">
<parent>base_link</parent>
<child>wheel_left_link</child>
- <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+ <pose>0.0 0.144 0.023 -1.57 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
@@ -386,15 +420,20 @@
<joint name="wheel_right_joint" type="revolute">
<parent>base_link</parent>
<child>wheel_right_link</child>
- <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+ <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
- <joint name='caster_back_joint' type='ball'>
+ <joint name='caster_back_right_joint' type='ball'>
+ <parent>base_link</parent>
+ <child>caster_back_right_link</child>
+ </joint>
+
+ <joint name='caster_back_left_joint' type='ball'>
<parent>base_link</parent>
- <child>caster_back_link</child>
+ <child>caster_back_left_link</child>
</joint>
<joint name="imu_joint" type="fixed">
@@ -409,7 +448,7 @@
<joint name="lidar_joint" type="fixed">
<parent>base_link</parent>
<child>base_scan</child>
- <pose>-0.032 0 0.171 0 0 0</pose>
+ <pose>-0.064 0 0.121 0 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
@@ -426,7 +465,7 @@
<right_joint>wheel_right_joint</right_joint>
<!-- kinematics -->
- <wheel_separation>0.160</wheel_separation>
+ <wheel_separation>0.287</wheel_separation>
<wheel_diameter>0.066</wheel_diameter>
<!-- limits -->