urdf/explorer.urdf

   1 <?xml version="1.0"?>
   2 <robot name="explorer">
   3         <link name="base_link">
   4                 <visual>
   5                         <geometry>
   6                                 <box size="0.14 0.155 0.085"/>
   7                         </geometry>
   8                         <origin xyz="0.0 0 0.0525" rpy="0 0 0"/>
   9                         <material name="white_transparent">
  10                                 <color rgba="1 1 1 0.8"/>
  11                         </material>
  12                 </visual>
  13         </link>
  14
  15         <link name="tail">
  16                 <visual>
  17                         <geometry>
  18                                 <box size="0.06 0.09 0.075"/>
  19                         </geometry>
  20                         <material name="red">
  21                                 <color rgba="1 0 0 1"/>
  22                         </material>
  23                 </visual>
  24         </link>
  25
  26         <link name="left_wheel">
  27                 <visual>
  28                         <geometry>
  29                                 <cylinder radius="0.026" length="0.02"/>
  30                         </geometry>
  31                         <material name="black">
  32                                 <color rgba="0 0 0 1"/>
  33                         </material>
  34                 </visual>
  35                 <collision>
  36                         <geometry>
  37                                 <cylinder radius="0.026" length="0.02"/>
  38                         </geometry>
  39                 </collision>
  40         </link>
  41
  42         <link name="right_wheel">
  43                 <visual>
  44                         <geometry>
  45                                 <cylinder radius="0.026" length="0.02"/>
  46                         </geometry>
  47                         <material name="black">
  48                                 <color rgba="0 0 0 1"/>
  49                         </material>
  50                 </visual>
  51                 <collision>
  52                         <geometry>
  53                                 <cylinder radius="0.026" length="0.02"/>
  54                         </geometry>
  55                 </collision>
  56         </link>
  57
  58         <link name="aft_wheel">
  59                 <visual>
  60                         <geometry>
  61                                 <cylinder radius="0.01" length="0.02"/>
  62                         </geometry>
  63                         <material name="black">
  64                                 <color rgba="0 0 0 1"/>
  65                         </material>
  66                 </visual>
  67         </link>
  68
  69         <link name="forward_sensor">
  70                 <visual>
  71                         <geometry>
  72                                 <box size="0.015 0.045 0.03"/>
  73                         </geometry>
  74                         <origin xyz="0 0 0" rpy="0 0 0"/>
  75                         <material name="black">
  76                                 <color rgba="0 0 0 1"/>
  77                         </material>
  78                 </visual>
  79         </link>
  80
  81         <joint name="tail_joint" type="fixed">
  82                 <parent link="base_link"/>
  83                 <child link="tail"/>
  84                 <origin xyz="-0.1 0 0.0575" rpy="0 0 0"/>
  85         </joint>
  86
  87         <joint name="left_wheel_joint" type="fixed">
  88                 <parent link="base_link"/>
  89                 <child link="left_wheel"/>
  90                 <origin xyz="0 -0.08 0.026" rpy="1.57 0 0"/>
  91         </joint>
  92
  93         <joint name="right_wheel_joint" type="fixed">
  94                 <parent link="base_link"/>
  95                 <child link="right_wheel"/>
  96                 <origin xyz="0 0.08 0.026" rpy="1.57 0 0"/>
  97         </joint>
  98
  99         <joint name="aft_wheel_joint" type="fixed">
 100                 <parent link="tail"/>
 101                 <child link="aft_wheel"/>
 102                 <origin xyz="0 0 -0.0475" rpy="1.57 0 0"/>
 103         </joint>
 104
 105         <joint name="forward_sensor_joint" type="fixed">
 106                 <parent link="base_link"/>
 107                 <child link="forward_sensor"/>
 108                 <origin xyz="0.07 0 0.06" rpy="0 0 0"/>
 109         </joint>
 110
 111         <transmission name="left_wheel_trans" type="SimpleTransmission">
 112                 <type>transmission_interface/SimpleTransmission</type>
 113                 <joint name="left_wheel_joint">
 114                         <hardwareInterface>VelocityJointInterface</hardwareInterface>
 115                 </joint>
 116                 <actuator name="left_wheel_motor">
 117                         <mechanicalReduction>1</mechanicalReduction>
 118                 </actuator>
 119         </transmission>
 120
 121         <transmission name="right_wheel_trans" type="SimpleTransmission">
 122                 <type>transmission_interface/SimpleTransmission</type>
 123                 <joint name="right_wheel_joint">
 124                         <hardwareInterface>VelocityJointInterface</hardwareInterface>
 125                 </joint>
 126                 <actuator name="right_wheel_motor">
 127                         <mechanicalReduction>1</mechanicalReduction>
 128                 </actuator>
 129         </transmission>
 130 </robot>