]> defiant.homedns.org Git - arm_ros_conn.git/blob - urdf/arm.urdf.xacro
urdf cleanup
[arm_ros_conn.git] / urdf / arm.urdf.xacro
1 <?xml version="1.0"?>
2 <robot name="arm" xmlns:xacro="http://ros.org/wiki/xacro">
3         <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
4
5         <link name="base_link">
6                 <visual>
7                         <geometry>
8                                 <box size="0.30 0.22 0.015"/>
9                         </geometry>
10                         <origin xyz="0.08 0 0.095" rpy="0 0 0"/>
11                         <material name="black">
12                                 <color rgba="0.0 0.0 0.0 1"/>
13                         </material>
14                 </visual>
15         </link>
16
17         <link name="front_wheel">
18                 <visual>
19                         <geometry>
20                                 <cylinder radius="0.025" length="0.002"/>
21                         </geometry>
22                         <origin xyz="0 0 0" rpy="1.57 0 0"/>
23                         <material name="black">
24                                 <color rgba="0 0 0 1"/>
25                         </material>
26                 </visual>
27         </link>
28
29         <link name="aft_left_wheel">
30                 <visual>
31                         <geometry>
32                                 <cylinder radius="0.025" length="0.002"/>
33                         </geometry>
34                         <origin xyz="0 0 0" rpy="1.57 0 0"/>
35                         <material name="black">
36                                 <color rgba="0 0 0 1"/>
37                         </material>
38                 </visual>
39         </link>
40
41         <link name="aft_right_wheel">
42                 <visual>
43                         <geometry>
44                                 <cylinder radius="0.025" length="0.002"/>
45                         </geometry>
46                         <origin xyz="0 0 0" rpy="1.57 0 0"/>
47                         <material name="black">
48                                 <color rgba="0 0 0 1"/>
49                         </material>
50                 </visual>
51         </link>
52
53         <xacro:asus_camera name="camera" parent="base_link">
54                 <origin xyz="0.195 0.0 0.165" rpy="0 0 0"/>
55         </xacro:asus_camera>
56
57         <joint name="front_wheel_joint" type="fixed">
58                 <parent link="base_link"/>
59                 <child link="front_wheel"/>
60                 <origin xyz="0.17 0.0 0.025" rpy="0 0 0"/>
61         </joint>
62
63         <joint name="aft_left_wheel_joint" type="fixed">
64                 <parent link="base_link"/>
65                 <child link="aft_left_wheel"/>
66                 <origin xyz="0.0 0.05 0.025" rpy="0 0 0"/>
67         </joint>
68
69         <joint name="aft_right_wheel_joint" type="fixed">
70                 <parent link="base_link"/>
71                 <child link="aft_right_wheel"/>
72                 <origin xyz="0.0 -0.05 0.025" rpy="0 0 0"/>
73         </joint>
74 </robot>