diff --git a/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.config b/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.config
new file mode 100644
index 0000000000000000000000000000000000000000..acf1a68e90358a9b345af12d88658cbd3f8fb8da
--- /dev/null
+++ b/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.config
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<model>
+ <name>TurtleBot3(Waffle)</name>
+ <version>2.0</version>
+ <sdf version="1.5">model.sdf</sdf>
+
+ <author>
+ <name>Taehun Lim(Darby)</name>
+ <email>thlim@robotis.com</email>
+
+ <name>Melih Erdogan(mlherd)</name>
+ <email>h.meliherdogan@gmail.com</email>
+ </author>
+
+ <description>
+ TurtleBot3 Waffle
+ </description>
+</model>
diff --git a/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.sdf b/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.sdf
new file mode 100644
index 0000000000000000000000000000000000000000..d7fe0f8b4f24a6e32dfdb1487b391800e5cbba64
--- /dev/null
+++ b/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.sdf
@@ -0,0 +1,452 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+ <model name="turtlebot3_waffle">
+ <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+ <link name="base_footprint"/>
+
+ <link name="base_link">
+
+ <inertial>
+ <pose>-0.064 0 0.048 0 0 0</pose>
+ <inertia>
+ <ixx>0.001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.001</izz>
+ </inertia>
+ <mass>1.0</mass>
+ </inertial>
+
+ <collision name="base_collision">
+ <pose>-0.064 0 0.048 0 0 0</pose>
+ <geometry>
+ <box>
+ <size>0.265 0.265 0.089</size>
+ </box>
+ </geometry>
+ </collision>
+ </link>
+
+ <link name="imu_link">
+ <sensor name="tb3_imu" type="imu">
+ <always_on>true</always_on>
+ <update_rate>200</update_rate>
+ <imu>
+ <angular_velocity>
+ <x>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ </noise>
+ </x>
+ <y>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ </noise>
+ </y>
+ <z>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ </noise>
+ </z>
+ </angular_velocity>
+ <linear_acceleration>
+ <x>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ </noise>
+ </x>
+ <y>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ </noise>
+ </y>
+ <z>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ </noise>
+ </z>
+ </linear_acceleration>
+ </imu>
+ <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+ <ros>
+ <!-- <namespace>/tb3</namespace> -->
+ <argument>~/out:=imu</argument>
+ </ros>
+ </plugin>
+ </sensor>
+ </link>
+
+ <link name="base_scan">
+ <inertial>
+ <pose>-0.052 0 0.111 0 0 0</pose>
+ <inertia>
+ <ixx>0.001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.001</izz>
+ </inertia>
+ <mass>0.125</mass>
+ </inertial>
+
+ <collision name="lidar_sensor_collision">
+ <pose>-0.052 0 0.111 0 0 0</pose>
+ <geometry>
+ <cylinder>
+ <radius>0.0508</radius>
+ <length>0.055</length>
+ </cylinder>
+ </geometry>
+ </collision>
+
+ <sensor name="hls_lfcd_lds" type="ray">
+ <always_on>true</always_on>
+ <visualize>true</visualize>
+ <pose>-0.064 0 0.121 0 0 0</pose>
+ <update_rate>5</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1.000000</resolution>
+ <min_angle>0.000000</min_angle>
+ <max_angle>6.280000</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.120000</min>
+ <max>3.5</max>
+ <resolution>0.015000</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+ <ros>
+ <!-- <namespace>/tb3</namespace> -->
+ <argument>~/out:=scan</argument>
+ </ros>
+ <output_type>sensor_msgs/LaserScan</output_type>
+ <frame_name>base_scan</frame_name>
+ </plugin>
+ </sensor>
+ </link>
+
+ <link name="wheel_left_link">
+
+ <inertial>
+ <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+ <inertia>
+ <ixx>0.001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.001</izz>
+ </inertia>
+ <mass>0.1</mass>
+ </inertial>
+
+ <collision name="wheel_left_collision">
+ <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+ <geometry>
+ <cylinder>
+ <radius>0.033</radius>
+ <length>0.018</length>
+ </cylinder>
+ </geometry>
+ <surface>
+ <!-- This friction pamareter don't contain reliable data!! -->
+ <friction>
+ <ode>
+ <mu>100000.0</mu>
+ <mu2>100000.0</mu2>
+ <fdir1>0 0 0</fdir1>
+ <slip1>0.0</slip1>
+ <slip2>0.0</slip2>
+ </ode>
+ </friction>
+ <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="wheel_right_link">
+
+ <inertial>
+ <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+ <inertia>
+ <ixx>0.001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.001</izz>
+ </inertia>
+ <mass>0.1</mass>
+ </inertial>
+
+ <collision name="wheel_right_collision">
+ <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+ <geometry>
+ <cylinder>
+ <radius>0.033</radius>
+ <length>0.018</length>
+ </cylinder>
+ </geometry>
+ <surface>
+ <!-- This friction pamareter don't contain reliable data!! -->
+ <friction>
+ <ode>
+ <mu>100000.0</mu>
+ <mu2>100000.0</mu2>
+ <fdir1>0 0 0</fdir1>
+ <slip1>0.0</slip1>
+ <slip2>0.0</slip2>
+ </ode>
+ </friction>
+ <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_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>
+ <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="camera_link">
+ <inertial>
+ <pose>0.069 -0.047 0.107 0 0 0</pose>
+ <inertia>
+ <ixx>0.001</ixx>
+ <ixy>0.000</ixy>
+ <ixz>0.000</ixz>
+ <iyy>0.001</iyy>
+ <iyz>0.000</iyz>
+ <izz>0.001</izz>
+ </inertia>
+ <mass>0.035</mass>
+ </inertial>
+
+ <collision name="collision">
+ <pose>0 0.047 0 0 0 0</pose>
+ <geometry>
+ <box>
+ <size>0.008 0.130 0.022</size>
+ </box>
+ </geometry>
+ </collision>
+ <pose>0.069 -0.047 0.107 0 0 0</pose>
+
+ <sensor name="intel_realsense_r200_depth" type="depth">
+ <always_on>1</always_on>
+ <update_rate>1</update_rate>
+ <pose>0.064 -0.047 0.107 0 0 0</pose>
+ <camera name="realsense_depth_camera">
+ </camera>
+ <plugin name="intel_realsense_r200_depth_driver" filename="libgazebo_ros_camera.so">
+ <ros>
+ <!--
+ <argument>custom_camera/image_raw:=custom_camera/custom_image</argument>
+ <argument>custom_camera/image_depth:=custom_camera/custom_image_depth</argument>
+ <argument>custom_camera/camera_info:=custom_camera/custom_info_raw</argument>
+ <argument>custom_camera/camera_info_depth:=custom_camera/custom_info_depth</argument>
+ <argument>custom_camera/points:=custom_camera/custom_points</argument>
+ -->
+ </ros>
+ <camera_name>intel_realsense_r200_depth</camera_name>
+ <frame_name>camera_depth_frame</frame_name>
+ <hack_baseline>0.07</hack_baseline>
+ <min_depth>0.001</min_depth>
+ </plugin>
+ </sensor>
+ </link>
+
+ <joint name="base_joint" type="fixed">
+ <parent>base_footprint</parent>
+ <child>base_link</child>
+ <pose>0.0 0.0 0.010 0 0 0</pose>
+ </joint>
+
+ <joint name="wheel_left_joint" type="revolute">
+ <parent>base_link</parent>
+ <child>wheel_left_link</child>
+ <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+ <axis>
+ <xyz>0 0 1</xyz>
+ </axis>
+ </joint>
+
+ <joint name="wheel_right_joint" type="revolute">
+ <parent>base_link</parent>
+ <child>wheel_right_link</child>
+ <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+ <axis>
+ <xyz>0 0 1</xyz>
+ </axis>
+ </joint>
+
+ <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_left_link</child>
+ </joint>
+
+ <joint name="lidar_joint" type="fixed">
+ <parent>base_link</parent>
+ <child>base_scan</child>
+ <pose>-0.064 0 0.121 0 0 0</pose>
+ <axis>
+ <xyz>0 0 1</xyz>
+ </axis>
+ </joint>
+
+ <joint name="camera_joint" type="fixed">
+ <parent>base_link</parent>
+ <child>camera_link</child>
+ </joint>
+
+ <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+ <ros>
+ <!-- <namespace>/tb3</namespace> -->
+ </ros>
+
+ <update_rate>30</update_rate>
+
+ <!-- wheels -->
+ <left_joint>wheel_left_joint</left_joint>
+ <right_joint>wheel_right_joint</right_joint>
+
+ <!-- kinematics -->
+ <wheel_separation>0.287</wheel_separation>
+ <wheel_diameter>0.066</wheel_diameter>
+
+ <!-- limits -->
+ <max_wheel_torque>20</max_wheel_torque>
+ <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+ <command_topic>cmd_vel</command_topic>
+
+ <!-- output -->
+ <publish_odom>true</publish_odom>
+ <publish_odom_tf>true</publish_odom_tf>
+ <publish_wheel_tf>false</publish_wheel_tf>
+
+ <odometry_topic>odom</odometry_topic>
+ <odometry_frame>odom</odometry_frame>
+ <robot_base_frame>base_footprint</robot_base_frame>
+
+ </plugin>
+
+ <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+ <ros>
+ <!-- <namespace>/tb3</namespace> -->
+ <argument>~/out:=joint_states</argument>
+ </ros>
+ <update_rate>30</update_rate>
+ <joint_name>wheel_left_joint</joint_name>
+ <joint_name>wheel_right_joint</joint_name>
+ </plugin>
+
+ </model>
+</sdf>
diff --git a/nav2_system_tests/urdf/turtlebot3_waffle.urdf b/nav2_system_tests/urdf/turtlebot3_waffle.urdf
index ee5139783301a3ad20b8cd9436ff6af6e6cce964..9a5bca114112b6f4be63eab7442a4db8f9fb9f85 100644
--- a/nav2_system_tests/urdf/turtlebot3_waffle.urdf
+++ b/nav2_system_tests/urdf/turtlebot3_waffle.urdf
@@ -1,11 +1,52 @@
<?xml version="1.0" ?>
<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>
+ <!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>
<xacro:property name="r200_cam_rgb_px" value="0.005"/>
<xacro:property name="r200_cam_rgb_py" value="0.018"/>
<xacro:property name="r200_cam_rgb_pz" value="0.013"/>
- <xacro:property name="r200_cam_depth_offset" value="0.01"/>
+ <xacro:property name="r200_cam_depth_offset" value="0.01"/> -->
+
+ <!-- Init colour -->
+ <material name="black">
+ <color rgba="0.0 0.0 0.0 1.0"/>
+ </material>
+
+ <material name="dark">
+ <color rgba="0.3 0.3 0.3 1.0"/>
+ </material>
+
+ <material name="light_black">
+ <color rgba="0.4 0.4 0.4 1.0"/>
+ </material>
+
+ <material name="blue">
+ <color rgba="0.0 0.0 0.8 1.0"/>
+ </material>
+
+ <material name="green">
+ <color rgba="0.0 0.8 0.0 1.0"/>
+ </material>
+
+ <material name="grey">
+ <color rgba="0.5 0.5 0.5 1.0"/>
+ </material>
+
+ <material name="orange">
+ <color rgba="1.0 0.4235 0.0392 1.0"/>
+ </material>
+
+ <material name="brown">
+ <color rgba="0.8706 0.8118 0.7647 1.0"/>
+ </material>
+
+ <material name="red">
+ <color rgba="0.8 0.0 0.0 1.0"/>
+ </material>
+
+ <material name="white">
+ <color rgba="1.0 1.0 1.0 1.0"/>
+ </material>
<link name="base_footprint"/>
@@ -17,11 +58,11 @@
<link name="base_link">
<visual>
- <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
+ <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
<geometry>
- <mesh filename="package://turtlebot3_description/meshes/bases/waffle_base.stl" scale="0.001 0.001 0.001"/>
+ <box size="0.266 0.266 0.094"/>
</geometry>
- <material name="light_black"/>
+ <material name="blue"/>
</visual>
<collision>
@@ -30,7 +71,7 @@
<box size="0.266 0.266 0.094"/>
</geometry>
</collision>
-
+
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.3729096e+00"/>
@@ -49,11 +90,11 @@
<link name="wheel_left_link">
<visual>
- <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
- <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+ <cylinder length="0.018" radius="0.033"/>
</geometry>
- <material name="dark"/>
+ <material name="light_black"/>
</visual>
<collision>
@@ -81,11 +122,11 @@
<link name="wheel_right_link">
<visual>
- <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
- <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+ <cylinder length="0.018" radius="0.033"/>
</geometry>
- <material name="dark"/>
+ <material name="light_black"/>
</visual>
<collision>
@@ -165,14 +206,6 @@
</joint>
<link name="base_scan">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
- </geometry>
- <material name="dark"/>
- </visual>
-
<collision>
<origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
<geometry>
@@ -196,12 +229,6 @@
</joint>
<link name="camera_link">
- <visual>
- <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
- <geometry>
- <mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae" />
- </geometry>
- </visual>
<collision>
<origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
<geometry>
@@ -220,7 +247,7 @@
</link>
<joint name="camera_rgb_joint" type="fixed">
- <origin xyz="0.005 0.018 0.013" rpy="0 0 0"/>
+ <origin xyz="0.005 0.018 0.013" rpy="-1.57 0 -1.57"/>
<!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
<parent link="camera_link"/>
<child link="camera_rgb_frame"/>
@@ -235,7 +262,7 @@
<link name="camera_rgb_optical_frame"/>
<joint name="camera_depth_joint" type="fixed">
- <origin xyz="0.005 0.028 0.013" rpy="0 0 0"/>
+ <origin xyz="0.005 0.028 0.013" rpy="-1.57 0 -1.57"/>
<!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
<parent link="camera_link"/>
<child link="camera_depth_frame"/>