2 <robot name="r2" xmlns:xacro="http://ros.org/wiki/xacro">
3 <xacro:property name="PI" value="3.1415926535897931" />
4 <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
6 <link name="base_link">
8 <origin xyz="0.09 -0.02 0.07" rpy="${PI} 0 ${-PI/2}"/>
10 <mesh filename="package://wild_thumper/meshes/wild_thumper_assembly_corrected.stl" scale="0.001 0.001 0.001" />
15 <link name="base_footprint">
18 <box size="0.28 0.31 0.0"/>
20 <material name="grey">
21 <color rgba="0.5 0.5 0.5 0.5"/>
26 <link name="base_imu_link">
29 <box size="0.041 0.028 0.002"/>
32 <color rgba="1 0 0 1"/>
37 <xacro:asus_camera name="camera" parent="base_link">
38 <origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
41 <joint name="imu_joint" type="fixed">
42 <parent link="base_link"/>
43 <child link="base_imu_link"/>
44 <origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
47 <joint name="base_link_joint" type="fixed">
48 <parent link="base_footprint"/>
49 <child link="base_link"/>
50 <origin xyz="0.0 0.0 0.13" rpy="0 0 0"/>