4e78a879cb48e63d75398287f0fe659410edeb65
[ros_wild_thumper.git] / urdf / wild_thumper.urdf.xacro
1 <?xml version="1.0"?>
2 <robot name="r2" xmlns:xacro="http://ros.org/wiki/xacro">
3         <xacro:property name="PI" value="3.1415926535897931" />
4         <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
5
6         <link name="base_link">
7                 <visual>
8                         <origin xyz="0.09 -0.022 0.07" rpy="${PI} 0 ${-PI/2}"/>
9                         <geometry>
10                                 <mesh filename="package://wild_thumper/meshes/wild_thumper_assembly_corrected.stl" scale="0.001 0.001 0.001" />
11                         </geometry>
12                 </visual>
13         </link>
14
15         <link name="base_footprint">
16                 <visual>
17                         <geometry>
18                                 <box size="0.28 0.31 0.0"/>
19                         </geometry>
20                         <material name="grey">
21                                 <color rgba="0.5 0.5 0.5 0.5"/>
22                         </material>
23                 </visual>
24         </link>
25
26         <link name="base_imu_link">
27                 <visual>
28                         <geometry>
29                                 <box size="0.041 0.028 0.002"/>
30                         </geometry>
31                         <material name="red">
32                                 <color rgba="1 0 0 1"/>
33                         </material>
34                 </visual>
35         </link>
36
37         <xacro:asus_camera name="camera" parent="base_link">
38                 <origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
39         </xacro:asus_camera>
40
41         <link name="sonar_forward">
42                 <visual>
43                         <geometry>
44                                 <box size="0.016 0.044 0.02"/>
45                         </geometry>
46                         <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
47                         <material name="green">
48                                 <color rgba="0 1 0 0.8"/>
49                         </material>
50                 </visual>
51         </link>
52
53         <link name="sonar_backward">
54                 <visual>
55                         <geometry>
56                                 <box size="0.016 0.044 0.02"/>
57                         </geometry>
58                         <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
59                         <material name="green">
60                                 <color rgba="0 1 0 0.8"/>
61                         </material>
62                 </visual>
63         </link>
64
65         <link name="ir_left">
66                 <visual>
67                         <geometry>
68                                 <box size="0.015 0.015 0.046"/>
69                         </geometry>
70                         <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
71                         <material name="black">
72                                 <color rgba="0 0 0 1"/>
73                         </material>
74                 </visual>
75         </link>
76
77         <link name="ir_right">
78                 <visual>
79                         <geometry>
80                                 <box size="0.015 0.015 0.046"/>
81                         </geometry>
82                         <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
83                         <material name="black">
84                                 <color rgba="0 0 0 1"/>
85                         </material>
86                 </visual>
87         </link>
88
89         <joint name="imu_joint" type="fixed">
90                 <parent link="base_link"/>
91                 <child link="base_imu_link"/>
92                 <origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
93         </joint>
94
95         <joint name="base_link_joint" type="fixed">
96                 <parent link="base_footprint"/>
97                 <child link="base_link"/>
98                 <origin xyz="0.0 0.0 0.13" rpy="0 0 0"/>
99         </joint>
100
101         <joint name="sonar_forward_joint" type="fixed">
102                 <parent link="base_link"/>
103                 <child link="sonar_forward"/>
104                 <origin xyz="0.115 0.0 -0.012" rpy="0 0 0"/>
105         </joint>
106
107         <joint name="sonar_backward_joint" type="fixed">
108                 <parent link="base_link"/>
109                 <child link="sonar_backward"/>
110                 <origin xyz="-0.115 0.0 -0.012" rpy="0 ${PI} 0"/>
111         </joint>
112
113         <joint name="ir_left_joint" type="fixed">
114                 <parent link="base_link"/>
115                 <child link="ir_left"/>
116                 <origin xyz="0.0 ${0.072+0.015} -0.045" rpy="0 0 ${PI/2}"/>
117         </joint>
118
119         <joint name="ir_right_joint" type="fixed">
120                 <parent link="base_link"/>
121                 <child link="ir_right"/>
122                 <origin xyz="0.0 ${-0.072-0.015} -0.045" rpy="0 0 ${-PI/2}"/>
123         </joint>
124 </robot>