2 <robot name="arm" xmlns:xacro="http://ros.org/wiki/xacro">
3 <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
5 <link name="base_link">
8 <box size="0.30 0.22 0.015"/>
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"/>
17 <link name="front_wheel">
20 <cylinder radius="0.025" length="0.002"/>
22 <origin xyz="0 0 0" rpy="1.57 0 0"/>
23 <material name="black">
24 <color rgba="0 0 0 1"/>
29 <link name="aft_left_wheel">
32 <cylinder radius="0.025" length="0.002"/>
34 <origin xyz="0 0 0" rpy="1.57 0 0"/>
35 <material name="black">
36 <color rgba="0 0 0 1"/>
41 <link name="aft_right_wheel">
44 <cylinder radius="0.025" length="0.002"/>
46 <origin xyz="0 0 0" rpy="1.57 0 0"/>
47 <material name="black">
48 <color rgba="0 0 0 1"/>
53 <xacro:asus_camera name="camera" parent="base_link">
54 <origin xyz="0.195 0.0 0.165" rpy="0 0 0"/>
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"/>
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"/>
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"/>