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>