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>