urdf modifications

[arm_ros_conn.git] / urdf / arm.urdf.xacro

diff --git a/urdf/arm.urdf.xacro b/urdf/arm.urdf.xacro
new file mode 100644 (file)
index 0000000..8e7b3d5
--- /dev/null
+++ b/urdf/arm.urdf.xacro
@@ -0,0 +1,83 @@
+<?xml version="1.0"?>
+<robot name="arm" xmlns:xacro="http://ros.org/wiki/xacro">
+       <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
+
+       <link name="base_link">
+               <visual>
+                       <geometry>
+                               <box size="0.30 0.22 0.015"/>
+                       </geometry>
+                       <origin xyz="0.08 0 0.095" rpy="0 0 0"/>
+                       <material name="black">
+                               <color rgba="0.0 0.0 0.0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="front_wheel">
+               <visual>
+                       <geometry>
+                               <cylinder radius="0.025" length="0.002"/>
+                       </geometry>
+                       <origin xyz="0 0 0" rpy="1.57 0 0"/>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="aft_left_wheel">
+               <visual>
+                       <geometry>
+                               <cylinder radius="0.025" length="0.002"/>
+                       </geometry>
+                       <origin xyz="0 0 0" rpy="1.57 0 0"/>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="aft_right_wheel">
+               <visual>
+                       <geometry>
+                               <cylinder radius="0.025" length="0.002"/>
+                       </geometry>
+                       <origin xyz="0 0 0" rpy="1.57 0 0"/>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <xacro:asus_camera name="camera" parent="base_link">
+               <origin xyz="0.195 0.0 0.165" rpy="0 0 0"/>
+       </xacro:asus_camera>
+
+       <link name="scan">
+       </link>
+
+       <joint name="scan_joint" type="fixed">
+               <parent link="camera_depth_frame"/>
+               <child link="scan"/>
+               <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+       </joint>
+
+       <joint name="front_wheel_joint" type="fixed">
+               <parent link="base_link"/>
+               <child link="front_wheel"/>
+               <origin xyz="0.17 0.0 0.025" rpy="0 0 0"/>
+       </joint>
+
+       <joint name="aft_left_wheel_joint" type="fixed">
+               <parent link="base_link"/>
+               <child link="aft_left_wheel"/>
+               <origin xyz="0.0 0.05 0.025" rpy="0 0 0"/>
+       </joint>
+
+       <joint name="aft_right_wheel_joint" type="fixed">
+               <parent link="base_link"/>
+               <child link="aft_right_wheel"/>
+               <origin xyz="0.0 -0.05 0.025" rpy="0 0 0"/>
+       </joint>
+</robot>