310 lines
9.2 KiB
XML
310 lines
9.2 KiB
XML
<?xml version="1.0"?>
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<robot name="turtlebot" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:arg name="model" default="$(find turtlebot_description)/urdf/turtlebot.urdf.xacro"/>
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<xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_gazebo.xacro"/>
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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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<<<<<<< HEAD
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<origin xyz="-0.14 0.2 -0.05" rpy="1.5708 0 0"/>
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=======
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<origin xyz="-0.2 0.2 -0.07" rpy="1.5708 0 0"/>
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>>>>>>> devolop
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<geometry>
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<mesh filename="package://turtlebot_description/meshes/bases/kubot_base.STL" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="light_black"/>
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</visual>
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<collision>
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<origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
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<geometry>
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<box size="0.266 0.266 0.094"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0.0 0 0.0" rpy="0 0 0"/>
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<mass value="1.6329594e+00"/>
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<inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
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iyy="8.6195418e-03" iyz="-3.5422299e-06"
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izz="1.4612727e-02"/>
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</inertial>
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</link>
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<link name="wheel_left_link">
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<visual>
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<origin xyz="0 0 0" rpy="1.57 0 0"/>
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<geometry>
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<mesh filename="package://turtlebot_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="dark"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.018" radius="0.033"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0" />
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<mass value="2.8498940e-02" />
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<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
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iyy="1.1192413e-05" iyz="-1.4400107e-11"
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izz="2.0712558e-05" />
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</inertial>
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</link>
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<link name="wheel_right_link">
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<visual>
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<origin xyz="0 0 0" rpy="1.57 0 0"/>
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<geometry>
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<mesh filename="package://turtlebot_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="dark"/>
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</visual>
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<collision>
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<origin xyz="0 0.001 0" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.018" radius="0.033"/>
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</geometry>
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</collision>
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<inertial><launch>
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<arg name="model" default="$(find turtlebot_description)/urdf/turtlebot.urdf.xacro"/>
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)"/>
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>
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<node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui"/>
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<node pkg="rviz" type="rviz" args="-d $(find turtlebot_description)/rviz/display.rviz"/>
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</launch>
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<origin xyz="0 0 0" />
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<mass value="2.8498940e-02" />
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<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
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iyy="1.1192413e-05" iyz="-1.4400107e-11"
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izz="2.0712558e-05" />
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</inertial>
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</link>
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<<<<<<< HEAD
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<<<<<<< HEAD
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<link name="caster_back_right_link">
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=======
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<link name="caster_link">
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<collision>
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<origin xyz="0 0.001 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.030 0.009 0.020"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0" />
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<mass value="0.005" />
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<inertia ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.001" />
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</inertial>
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</link>
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<!-- <link name="caster_back_right_link">
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>>>>>>> c06338a682c5cc259374cb313033cea656328708
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<collision>
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<origin xyz="0 0.001 0" rpy="0 0 0"/>
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=======
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<link name="caster_back">
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<collision>
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<origin xyz="0 0.004 0" rpy="0 0 0"/>
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>>>>>>> devolop
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<geometry>
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<box size="0.030 0.009 0.020"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0" />
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<mass value="0.005" />
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<inertia ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.001" />
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</inertial>
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</link>
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<<<<<<< HEAD
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<link name="caster_back_left_link">
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<collision>
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<origin xyz="0 0.001 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.030 0.009 0.020"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0" />
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<mass value="0.005" />
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<inertia ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.001" />
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</inertial>
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</link> -->
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=======
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>>>>>>> devolop
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<link name="imu_link"/>
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<link name="base_scan">
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<visual>
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<origin xyz="0 0 0.0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://turtlebot_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="dark"/>
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</visual>
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<collision>
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<origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.0315" radius="0.045"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.114" />
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<origin xyz="0 0 0" />
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<inertia ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.001" />
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</inertial>
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</link>
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<<<<<<< HEAD
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<<<<<<< HEAD
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=======
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<!--
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>>>>>>> c06338a682c5cc259374cb313033cea656328708
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<link name="camera_link">
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=======
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<!-- <link name="camera_link">
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>>>>>>> devolop
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<collision>
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<origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
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<geometry>
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<box size="0.015 0.030 0.027"/>
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</geometry>
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</collision>
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</link> -->
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<!-- <link name="camera_rgb_frame"/> -->
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<<<<<<< HEAD
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<<<<<<< HEAD
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<link name="camera_rgb_optical_frame"/>
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=======
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<link name="camera_rgb_optical_frame"/> -->
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>>>>>>> devolop
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=======
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<!-- <link name="camera_rgb_optical_frame"/> -->
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>>>>>>> c06338a682c5cc259374cb313033cea656328708
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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="0.1 0 -0.01" rpy="0 0 0"/>
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</joint>
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<joint name="wheel_left_joint" type="continuous">
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<parent link="base_link"/>
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<child link="wheel_left_link"/>
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<origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<joint name="wheel_right_joint" type="continuous">
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<parent link="base_link"/>
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<child link="wheel_right_link"/>
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<origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<!--
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<joint name="caster_back_right_joint" type="fixed">
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<parent link="base_link"/>
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<<<<<<< HEAD
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<child link="caster_back_right_link"/>
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<origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
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</joint>
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<joint name="caster_back_left_joint" type="fixed">
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<parent link="base_link"/>
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<child link="caster_back_left_link"/>
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<origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
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</joint> -->
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<joint name="caster_joint" type="fixed">
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<parent link="base_link"/>
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<child link="caster_link"/>
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<origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
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</joint>
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=======
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<child link="caster_back"/>
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<origin xyz="-0.177 0 -0.004" rpy="-1.57 0 0"/>
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</joint>
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>>>>>>> devolop
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<joint name="imu_joint" type="fixed">
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<parent link="base_link"/>
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<child link="imu_link"/>
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<origin xyz="0.0 0 0.068" rpy="0 0 0"/>
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</joint>
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<joint name="scan_joint" type="fixed">
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<parent link="base_link"/>
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<child link="base_scan"/>
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<origin xyz="-0.024 0 0.122" rpy="0 0 0"/>
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</joint>
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<<<<<<< HEAD
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<<<<<<< HEAD
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<joint name="camera_joint" type="fixed">
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=======
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<!-- <joint name="camera_joint" type="fixed">
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>>>>>>> devolop
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=======
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<!-- <joint name="camera_joint" type="fixed">
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>>>>>>> c06338a682c5cc259374cb313033cea656328708
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<origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="camera_link"/>
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</joint> -->
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<!--
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<joint name="camera_rgb_joint" type="fixed">
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<origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
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<parent link="camera_link"/>
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<child link="camera_rgb_frame"/>
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</joint> -->
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<!-- <joint name="camera_rgb_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
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<parent link="camera_rgb_frame"/>
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<child link="camera_rgb_optical_frame"/>
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<<<<<<< HEAD
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<<<<<<< HEAD
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</joint>
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=======
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</joint> -->
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>>>>>>> devolop
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=======
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</joint> -->
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>>>>>>> c06338a682c5cc259374cb313033cea656328708
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</robot> |