Menu
The review-first prompt is selected by default. You can switch to a direct command or download a local copy.
Read SKILL.md and any companion files shown by SkillsMP before deciding whether to install.
Install with Codex or Claude Copy this prompt, paste it into Codex, Claude, or another assistant, and let it review the skill page and install it for you.
A direct command skips the review prompt. Inspect the source before running it.
npx skills add https://github.com/MIUAV/vibe-coding-ros2 --skill sdf-xacro-modelThe command stays on one line. Scroll horizontally to inspect it before copying.
Prefer a local copy? Download the files currently available to SkillsMP.
Based on SOC occupation classification
Showing SKILL.md
| name | sdf-xacro-model |
| description | 轮式车辆 SDF/XACRO 模型开发技能 - 差速驱动车、阿克曼车、履带车模型创建与仿真配置 |
| argument-hint | 创建轮式车辆模型 OR 差速驱动 OR 阿克曼模型 OR 履带车 |
| user-invocable | true |
用于创建轮式移动机器人的 SDF 和 XACRO 模型
当需要以下帮助时使用此技能：
// 差速驱动 - 适合室内移动机器人
// 阿克曼转向 - 适合户外车辆
// 履带式 - 适合复杂地形
<?xml version="1.0" ?>
<sdf version="1.11">
<model name="diff_drive_robot">
<static>false</static>
<self_collide>false</self_collide>
<!-- 基座链接 -->
<link name="base_link">
<pose>0 0 0.1 0 0 0</pose>
<inertial>
<mass>10.0</mass>
<inertia>
<ixx>0.1</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.1</iyy><iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<!-- 基座碰撞体 -->
<collision name="base_collision">
<geometry>
<box>
<size>0.5 0.4 0.1</size>
</box>
</geometry>
</collision>
<!-- 基座视觉体 -->
<visual name="base_visual">
<geometry>
<box>
<size>0.5 0.4 0.1</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.3 0.3 0.3 1</diffuse>
</material>
</visual>
</link>
<!-- 左前轮 -->
<link name="wheel_fl">
<pose>0.2 0.25 0 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.001</iyy><iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<collision name="wheel_fl_collision">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="wheel_fl_visual">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
</material>
</visual>
</link>
<joint name="wheel_fl_joint" type="continuous">
<parent>base_link</parent>
<child>wheel_fl</child>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<!-- 右前轮 -->
<link name="wheel_fr">
<pose>0.2 -0.25 0 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.001</iyy><iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<collision name="wheel_fr_collision">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
</collision>
<visual name="wheel_fr_visual">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
</material>
</visual>
</link>
<joint name="wheel_fr_joint" type="continuous">
<parent>base_link</parent>
<child>wheel_fr</child>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<!-- 左后轮 -->
<link name="wheel_rl">
<pose>-0.2 0.25 0 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.001</iyy><iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<collision name="wheel_rl_collision">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
</collision>
<visual name="wheel_rl_visual">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
</material>
</visual>
</link>
<joint name="wheel_rl_joint" type="continuous">
<parent>base_link</parent>
<child>wheel_rl</child>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<!-- 右后轮 -->
<link name="wheel_rr">
<pose>-0.2 -0.25 0 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.001</iyy><iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<collision name="wheel_rr_collision">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
</collision>
<visual name="wheel_rr_visual">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
</material>
</visual>
</link>
<joint name="wheel_rr_joint" type="continuous">
<parent>base_link</parent>
<child>wheel_rr</child>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<!-- 激光雷达 -->
<link name="laser_link">
<pose>0.25 0 0.15 0 0 0</pose>
<sensor name="laser" type="gpu_lidar">
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1</resolution>
</horizontal>
</scan>
<range>
<min>0.1</min>
<max>30</max>
</range>
</ray>
<plugin filename="gz-sim-sensors-gpu-lidar" name="gz::sim::systems::GpuRaySensor">
<ros>
<namespace>/robot</namespace>
</ros>
</plugin>
</sensor>
</link>
<joint name="laser_joint" type="fixed">
<parent>base_link</parent>
<child>laser_link</child>
</joint>
<!-- 差速驱动插件 -->
<plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
<left_joint>wheel_fl_joint</left_joint>
<right_joint>wheel_fr_joint</right_joint>
<left_joint>wheel_rl_joint</left_joint>
<right_joint>wheel_rr_joint</right_joint>
<wheel_radius>0.1</wheel_radius>
<wheel_separation>0.5</wheel_separation>
<max_wheel_torque>20</max_wheel_torque>
<max_wheel_velocity>10</max_wheel_velocity>
</plugin>
</model>
</sdf>
<?xml version="1.0" ?>
<robot name="diff_drive_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- 参数定义 -->
<xacro:property name="PI" value="3.14159265358979"/>
<xacro:property name="base_mass" value="10.0"/>
<xacro:property name="base_length" value="0.5"/>
<xacro:property name="base_width" value="0.4"/>
<xacro:property name="base_height" value="0.1"/>
<xacro:property name="wheel_radius" value="0.1"/>
<xacro:property name="wheel_width" value="0.05"/>
<xacro:property name="wheel_mass" value="0.5"/>
<xacro:property name= =/>
1.0
1.0
/robot
cmd_vel:=cmd_vel
odom:=odom
50
wheel_fl_joint
wheel_fr_joint
${wheel_separation}
${wheel_radius}
20
10
<?xml version="1.0" ?>
<sdf version="1.11">
<model name="ackermann_vehicle">
<static>false</static>
<!-- 车身 -->
<link name="chassis">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<mass>50.0</mass>
<inertia>
<ixx>0.5</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.8</iyy><iyz>0</iyz>
<izz>0.8</izz>
</inertia>
</inertial>
<collision name="chassis_collision">
1.0 0.5 0.2
1.0 0.5 0.2
0.4 0.2 0.1 1
0.4 0 0.1 0 0 0
5.0
0.0100
0.010
0.01
0.1 0.4 0.1
0.1 0.4 0.1
0.2 0.2 0.2 1
chassis
front_axle
0 0 1
-0.5
0.5
0.4 0.3 0.1 0 0 0
2.0
0.0100
0.010
0.01
0.15
0.1
0.15
0.1
0.1 0.1 0.1 1
front_axle
wheel_fl
0 1 0
0.4 -0.3 0.1 0 0 0
2.0
0.0100
0.010
0.01
0.15
0.1
0.15
0.1
0.1 0.1 0.1 1
front_axle
wheel_fr
0 1 0
-0.4 0.25 0.1 0 0 0
2.0
0.0100
0.010
0.01
0.15
0.1
0.15
0.1
0.1 0.1 0.1 1
chassis
wheel_rl
0 1 0
-0.4 -0.25 0.1 0 0 0
2.0
0.0100
0.010
0.01
0.15
0.1
0.15
0.1
0.1 0.1 0.1 1
chassis
wheel_rr
0 1 0
wheel_fl_joint
wheel_fr_joint
wheel_rl_joint
wheel_rr_joint
front_steering_joint
0.15
0.6
0.8
0.5
<?xml version="1.0" ?>
<sdf version="1.11">
<model name="tracked_vehicle">
<static>false</static>
<!-- 车身 -->
<link name="chassis">
<pose>0 0 0.15 0 0 0</pose>
<inertial>
<mass>30.0</mass>
<inertia>
<ixx>0.3</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.5</iyy><iyz>0</iyz>
<izz>0.5</izz>
</inertia>
</inertial>
<collision name="chassis_collision">
0.8 0.4 0.15
0.8 0.4 0.15
0.3 0.3 0.2 1
0 0.25 0 0 0 0
5.0
0.0500
0.050
0.05
0.8 0.1 0.1
2.0
2.0
0.8 0.1 0.1
0.1 0.1 0.1 1
chassis
track_left
0 1 0
0 -0.25 0 0 0 0
5.0
0.0500
0.050
0.05
0.8 0.1 0.1
2.0
2.0
0.8 0.1 0.1
0.1 0.1 0.1 1
chassis
track_right
0 1 0
track_left_joint
track_right_joint
0.1
0.5
50
5
<!-- 激光雷达 - 前置 -->
<link name="front_laser_link">
<pose>0.4 0 0.15 0 0 0</pose>
<sensor name="front_laser" type="gpu_lidar">
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1</resolution>
</horizontal>
</scan>
<range>
<min>0.1</min>
<max>30</max>
</range>
</ray>
<plugin filename="gz-sim-sensors-gpu-lidar" name="gz::sim::systems::GpuRaySensor">
<ros>
<namespace>/robot
0.3 0 0.2 0 0.3 0
30
1.57
640
480
/robot
0 0 0.1 0 0 0
100
/robot
0 0 0.2 0 0 0
10
/robot
<gazebo reference="wheel">
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
<fdir1>0 0 1</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<contact>
<kp>1e7</kp>
<kd>1</kd>
</contact>
</friction>
</surface>
</gazebo>
<gazebo reference="base_link">
<!-- 附加负载质量 -->
<mass>2.0</mass>
</gazebo>
解决方案：
解决方案：