X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_roboint.git;a=blobdiff_plain;f=urdf%2Fexplorer.urdf;fp=urdf%2Fexplorer.urdf;h=d5c84c594f2ee3e6b2bce8908637a95c3c2bf440;hp=0000000000000000000000000000000000000000;hb=f5eea9a58ebf3f5740c64e4b77c3fe52ed9fa351;hpb=546244d48efb7bcc4b869ba78a25232619f53a76

diff --git a/urdf/explorer.urdf b/urdf/explorer.urdf
new file mode 100644
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>