added range sensor messages
[ros_wild_thumper.git] / urdf / wild_thumper.urdf.xacro
index c783cff..4e78a87 100644 (file)
@@ -5,7 +5,7 @@
 
        <link name="base_link">
                <visual>
-                       <origin xyz="0.09 -0.02 0.07" rpy="${PI} 0 ${-PI/2}"/>
+                       <origin xyz="0.09 -0.022 0.07" rpy="${PI} 0 ${-PI/2}"/>
                        <geometry>
                                <mesh filename="package://wild_thumper/meshes/wild_thumper_assembly_corrected.stl" scale="0.001 0.001 0.001" />
                        </geometry>
                <origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
        </xacro:asus_camera>
 
+       <link name="sonar_forward">
+               <visual>
+                       <geometry>
+                               <box size="0.016 0.044 0.02"/>
+                       </geometry>
+                       <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
+                       <material name="green">
+                               <color rgba="0 1 0 0.8"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="sonar_backward">
+               <visual>
+                       <geometry>
+                               <box size="0.016 0.044 0.02"/>
+                       </geometry>
+                       <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
+                       <material name="green">
+                               <color rgba="0 1 0 0.8"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="ir_left">
+               <visual>
+                       <geometry>
+                               <box size="0.015 0.015 0.046"/>
+                       </geometry>
+                       <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="ir_right">
+               <visual>
+                       <geometry>
+                               <box size="0.015 0.015 0.046"/>
+                       </geometry>
+                       <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
        <joint name="imu_joint" type="fixed">
                <parent link="base_link"/>
                <child link="base_imu_link"/>
                <child link="base_link"/>
                <origin xyz="0.0 0.0 0.13" rpy="0 0 0"/>
        </joint>
+
+       <joint name="sonar_forward_joint" type="fixed">
+               <parent link="base_link"/>
+               <child link="sonar_forward"/>
+               <origin xyz="0.115 0.0 -0.012" rpy="0 0 0"/>
+       </joint>
+
+       <joint name="sonar_backward_joint" type="fixed">
+               <parent link="base_link"/>
+               <child link="sonar_backward"/>
+               <origin xyz="-0.115 0.0 -0.012" rpy="0 ${PI} 0"/>
+       </joint>
+
+       <joint name="ir_left_joint" type="fixed">
+               <parent link="base_link"/>
+               <child link="ir_left"/>
+               <origin xyz="0.0 ${0.072+0.015} -0.045" rpy="0 0 ${PI/2}"/>
+       </joint>
+
+       <joint name="ir_right_joint" type="fixed">
+               <parent link="base_link"/>
+               <child link="ir_right"/>
+               <origin xyz="0.0 ${-0.072-0.015} -0.045" rpy="0 0 ${-PI/2}"/>
+       </joint>
 </robot>