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>