-<?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>
-
- <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>