97 lines
3.5 KiB
Plaintext
97 lines
3.5 KiB
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:property name="base_length" value="0.6" />
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<xacro:property name="base_width" value="0.4" />
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<xacro:property name="base_height" value="0.2" />
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<xacro:property name="wheel_radius" value="0.1" />
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<xacro:property name="wheel_length" value="0.05" />
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<link name="base_footprint" />
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<link name="base_link">
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<visual>
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<geometry>
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<box size="${base_length} ${base_width} ${base_height}" />
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</geometry>
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<origin xyz="0 0 ${base_height / 2.0}" rpy="0 0 0" />
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<material name="blue" />
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</visual>
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<collision>
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<geometry>
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<box size="${base_length} ${base_width} ${base_height}" />
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</geometry>
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<origin xyz="0 0 ${base_height / 2.0}" rpy="0 0 0" />
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</collision>
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<xacro:box_inertia m="5.0" l="${2*base_length}" w="${2*base_width}" h="${2*base_height}"
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xyz="0 0 ${base_height / 2.0}" rpy="0 0 0" />
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</link>
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<xacro:macro name="wheel_link" params="prefix">
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<link name="${prefix}_wheel_link">
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<visual>
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<geometry>
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<cylinder radius="${wheel_radius}" length="${wheel_length}" />
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</geometry>
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<origin xyz="0 0 0" rpy="${pi / 2.0} 0 0" />
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<material name="grey" />
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</visual>
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<collision>
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<geometry>
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<cylinder radius="${wheel_radius}" length="${wheel_length}" />
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</geometry>
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<origin xyz="0 0 0" rpy="${pi / 2.0} 0 0" />
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</collision>
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<xacro:cylinder_inertia m="1.0" r="${2*wheel_radius}" h="${2*wheel_length}"
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xyz="0 0 0" rpy="${pi / 2.0} 0 0" />
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</link>
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</xacro:macro>
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<xacro:wheel_link prefix="right" />
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<xacro:wheel_link prefix="left" />
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<link name="caster_wheel_link">
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<visual>
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<geometry>
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<sphere radius="${wheel_radius / 2.0}" />
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<material name="grey" />
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</visual>
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<collision>
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<geometry>
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<sphere radius="${wheel_radius / 2.0}" />
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0" />
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</collision>
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<xacro:sphere_inertia m="0.5" r="${2*wheel_radius / 2.0}"
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xyz="0 0 0" rpy="0 0 0" />
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</link>
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<joint name="base_joint" type="fixed">
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<parent link="base_footprint" />
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<child link="base_link" />
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<origin xyz="0 0 ${wheel_radius}" rpy="0 0 0"/>
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</joint>
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<joint name="base_right_wheel_joint" type="continuous">
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<parent link="base_link" />
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<child link="right_wheel_link" />
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<origin xyz="${-base_length / 4.0} ${-(base_width + wheel_length) / 2.0} 0" rpy="0 0 0" />
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<axis xyz="0 1 0" />
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</joint>
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<joint name="base_left_wheel_joint" type="continuous">
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<parent link="base_link" />
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<child link="left_wheel_link" />
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<origin xyz="${-base_length / 4.0} ${(base_width + wheel_length) / 2.0} 0" rpy="0 0 0" />
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<axis xyz="0 1 0" />
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</joint>
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<joint name="base_caster_wheel_joint" type="fixed">
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<parent link="base_link" />
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<child link="caster_wheel_link" />
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<origin xyz="${base_length / 3.0} 0 ${-wheel_radius / 2.0}" rpy="0 0 0" />
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</joint>
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</robot>
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