- <link name="platform">
- <visual>
- <geometry>
- <box size="0.08 0.065 0.075"/>
- </geometry>
- <material name="red">
- <color rgba="1 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="scan">
- <visual>
- <geometry>
- <box size="0.01 0.045 0.015"/>
- </geometry>
- </visual>
- </link>
-
- <link name="front_left_eye">
- <visual>
- <geometry>
- <cylinder radius="0.0075" length="0.01"/>
- </geometry>
- <origin xyz="0 0 0" rpy="0 1.57 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="front_right_eye">
- <visual>
- <geometry>
- <cylinder radius="0.0075" length="0.01"/>
- </geometry>
- <origin xyz="0 0 0" rpy="0 1.57 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="sonar_forward_lower">
- <visual>
- <geometry>
- <box size="0.01 0.045 0.03"/>
- </geometry>
- </visual>
- </link>
-
- <link name="front_lower_left_eye">
- <visual>
- <geometry>
- <cylinder radius="0.0075" length="0.01"/>
- </geometry>
- <origin xyz="0 0 0.0" rpy="0 1.57 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="front_lower_right_eye">
- <visual>
- <geometry>
- <cylinder radius="0.0075" length="0.01"/>
- </geometry>
- <origin xyz="0 0 0.0" rpy="0 1.57 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="antenna">
- <visual>
- <geometry>
- <cylinder radius="0.005" length="0.20"/>
- </geometry>
- <origin xyz="0 0 0.1" rpy="0 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <joint name="front_left_wheel_joint" type="fixed">
- <parent link="base_link"/>
- <child link="front_left_wheel"/>
- <origin xyz="0.065 0.05 0.03" rpy="0 0 0"/>
- </joint>
-
- <joint name="front_right_wheel_joint" type="fixed">