added explorer urdf

[ros_roboint.git] / urdf / explorer.urdf

diff --git a/urdf/explorer.urdf b/urdf/explorer.urdf
new file mode 100644 (file)
index 0000000..d5c84c5
--- /dev/null
+++ b/urdf/explorer.urdf
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<robot name="explorer">
+       <link name="base_link">
+               <visual>
+                       <geometry>
+                               <box size="0.14 0.155 0.085"/>
+                       </geometry>
+                       <origin xyz="0.06 0 0.0525" rpy="0 0 0"/>
+                       <material name="white">
+                               <color rgba="1 1 1 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="tail">
+               <visual>
+                       <geometry>
+                               <box size="0.06 0.09 0.075"/>
+                       </geometry>
+                       <origin xyz="0 0 0.0525" rpy="0 0 0"/>
+                       <material name="red">
+                               <color rgba="1 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="left_wheel">
+               <visual>
+                       <geometry>
+                               <cylinder radius="0.026" length="0.02"/>
+                       </geometry>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="right_wheel">
+               <visual>
+                       <geometry>
+                               <cylinder radius="0.026" length="0.02"/>
+                       </geometry>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="aft_wheel">
+               <visual>
+                       <geometry>
+                               <cylinder radius="0.01" length="0.02"/>
+                       </geometry>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="scan">
+               <visual>
+                       <geometry>
+                               <box size="0.015 0.045 0.03"/>
+                       </geometry>
+                       <origin xyz="0.065 0 0.06" rpy="0 0 0"/>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <joint name="tail_joint" type="fixed">
+               <parent link="base_link"/>
+               <child link="tail"/>
+               <origin xyz="-0.04 0 0.005" rpy="0 0 0"/>
+       </joint>
+
+       <joint name="left_wheel_joint" type="fixed">
+               <parent link="base_link"/>
+               <child link="left_wheel"/>
+               <origin xyz="0.07 -0.08 0.026" rpy="1.57 0 0"/>
+       </joint>
+
+       <joint name="right_wheel_joint" type="fixed">
+               <parent link="base_link"/>
+               <child link="right_wheel"/>
+               <origin xyz="0.07 0.08 0.026" rpy="1.57 0 0"/>
+       </joint>
+
+       <joint name="aft_wheel_joint" type="fixed">
+               <parent link="tail"/>
+               <child link="aft_wheel"/>
+               <origin xyz="0 0 0.005" rpy="1.57 0 0"/>
+       </joint>
+
+       <joint name="scan_joint" type="fixed">
+               <parent link="base_link"/>
+               <child link="scan"/>
+               <origin xyz="0.06 0 0" rpy="0 0 0"/>
+       </joint>
+</robot>