2 <robot name="r2" xmlns:xacro="http://ros.org/wiki/xacro">
3 <xacro:property name="PI" value="3.1415926535897931" />
4 <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
6 <link name="base_link">
8 <origin xyz="0.09 -0.022 0.07" rpy="${PI} 0 ${-PI/2}"/>
10 <mesh filename="package://wild_thumper/meshes/wild_thumper_assembly_corrected.stl" scale="0.001 0.001 0.001" />
15 <link name="base_footprint">
18 <box size="0.28 0.31 0.0"/>
20 <material name="grey">
21 <color rgba="0.5 0.5 0.5 0.5"/>
26 <link name="base_imu_link">
29 <box size="0.041 0.028 0.002"/>
32 <color rgba="1 0 0 1"/>
37 <xacro:asus_camera name="camera" parent="base_link">
38 <origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
41 <link name="sonar_forward">
44 <box size="0.016 0.044 0.02"/>
46 <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
47 <material name="green">
48 <color rgba="0 1 0 0.8"/>
53 <link name="sonar_backward">
56 <box size="0.016 0.044 0.02"/>
58 <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
59 <material name="green">
60 <color rgba="0 1 0 0.8"/>
68 <box size="0.015 0.015 0.046"/>
70 <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
71 <material name="black">
72 <color rgba="0 0 0 1"/>
77 <link name="ir_right">
80 <box size="0.015 0.015 0.046"/>
82 <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
83 <material name="black">
84 <color rgba="0 0 0 1"/>
89 <joint name="imu_joint" type="fixed">
90 <parent link="base_link"/>
91 <child link="base_imu_link"/>
92 <origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
95 <joint name="base_link_joint" type="fixed">
96 <parent link="base_footprint"/>
97 <child link="base_link"/>
98 <origin xyz="0.0 0.0 0.13" rpy="0 0 0"/>
101 <joint name="sonar_forward_joint" type="fixed">
102 <parent link="base_link"/>
103 <child link="sonar_forward"/>
104 <origin xyz="0.115 0.0 -0.012" rpy="0 0 0"/>
107 <joint name="sonar_backward_joint" type="fixed">
108 <parent link="base_link"/>
109 <child link="sonar_backward"/>
110 <origin xyz="-0.115 0.0 -0.012" rpy="0 ${PI} 0"/>
113 <joint name="ir_left_joint" type="fixed">
114 <parent link="base_link"/>
115 <child link="ir_left"/>
116 <origin xyz="0.0 ${0.072+0.015} -0.045" rpy="0 0 ${PI/2}"/>
119 <joint name="ir_right_joint" type="fixed">
120 <parent link="base_link"/>
121 <child link="ir_right"/>
122 <origin xyz="0.0 ${-0.072-0.015} -0.045" rpy="0 0 ${-PI/2}"/>