c783cffff36792da7c39d78102995dd0bf82f1a5
[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="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
5
6         <link name="base_link">
7                 <visual>
8                         <origin xyz="0.09 -0.02 0.07" rpy="${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         <joint name="imu_joint" type="fixed">
42                 <parent link="base_link"/>
43                 <child link="base_imu_link"/>
44                 <origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
45         </joint>
46
47         <joint name="base_link_joint" type="fixed">
48                 <parent link="base_footprint"/>
49                 <child link="base_link"/>
50                 <origin xyz="0.0 0.0 0.13" rpy="0 0 0"/>
51         </joint>
52 </robot>