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="0.06 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                         <origin xyz="0 0 0.0525" rpy="0 0 0"/>
  21                         <material name="red">
  22                                 <color rgba="1 0 0 1"/>
  23                         </material>
  24                 </visual>
  25         </link>
  26
  27         <link name="left_wheel">
  28                 <visual>
  29                         <geometry>
  30                                 <cylinder radius="0.026" length="0.02"/>
  31                         </geometry>
  32                         <material name="black">
  33                                 <color rgba="0 0 0 1"/>
  34                         </material>
  35                 </visual>
  36         </link>
  37
  38         <link name="right_wheel">
  39                 <visual>
  40                         <geometry>
  41                                 <cylinder radius="0.026" length="0.02"/>
  42                         </geometry>
  43                         <material name="black">
  44                                 <color rgba="0 0 0 1"/>
  45                         </material>
  46                 </visual>
  47         </link>
  48
  49         <link name="aft_wheel">
  50                 <visual>
  51                         <geometry>
  52                                 <cylinder radius="0.01" length="0.02"/>
  53                         </geometry>
  54                         <material name="black">
  55                                 <color rgba="0 0 0 1"/>
  56                         </material>
  57                 </visual>
  58         </link>
  59
  60         <link name="scan">
  61                 <visual>
  62                         <geometry>
  63                                 <box size="0.015 0.045 0.03"/>
  64                         </geometry>
  65                         <origin xyz="0.065 0 0.06" rpy="0 0 0"/>
  66                         <material name="black">
  67                                 <color rgba="0 0 0 1"/>
  68                         </material>
  69                 </visual>
  70         </link>
  71
  72         <joint name="tail_joint" type="fixed">
  73                 <parent link="base_link"/>
  74                 <child link="tail"/>
  75                 <origin xyz="-0.04 0 0.005" rpy="0 0 0"/>
  76         </joint>
  77
  78         <joint name="left_wheel_joint" type="fixed">
  79                 <parent link="base_link"/>
  80                 <child link="left_wheel"/>
  81                 <origin xyz="0.07 -0.08 0.026" rpy="1.57 0 0"/>
  82         </joint>
  83
  84         <joint name="right_wheel_joint" type="fixed">
  85                 <parent link="base_link"/>
  86                 <child link="right_wheel"/>
  87                 <origin xyz="0.07 0.08 0.026" rpy="1.57 0 0"/>
  88         </joint>
  89
  90         <joint name="aft_wheel_joint" type="fixed">
  91                 <parent link="tail"/>
  92                 <child link="aft_wheel"/>
  93                 <origin xyz="0 0 0.005" rpy="1.57 0 0"/>
  94         </joint>
  95
  96         <joint name="scan_joint" type="fixed">
  97                 <parent link="base_link"/>
  98                 <child link="scan"/>
  99                 <origin xyz="0.06 0 0" rpy="0 0 0"/>
 100         </joint>
 101 </robot>