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nat.xacro
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nat.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robot_description">
<xacro:include filename="$(find gazebo_plugins)/test/multi_robot_scenario/xacro/laser/hokuyo.xacro"/>
<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<material name="light red">
<color rgba="1 0 0 0.4"/>
</material>
<link name="base">
<visual>
<geometry>
<box size="0.94 0.78 1.98"/>
</geometry>
<origin xyz="0 0 0.99"/>
<material name="light red"/>
</visual>
<collision>
<geometry>
<box size="0.94 0.78 1.98"/>
</geometry>
<origin xyz="0 0 0.99"/>
</collision>
</link>
<xacro:laser name="laser_vert_bottom" parent="base" xyz="0.3157 -0.0021 0.5099" rpy="3.1354 -1.3045 0.0025" meshes="package://gazebo_plugins/test/multi_robot_scenario/meshes/laser" />
<xacro:laser name="laser_vert_top_right" parent="base" xyz="0.2978 -0.1450 1.8451" rpy="-1.1760 0.6313 -1.9377" meshes="package://gazebo_plugins/test/multi_robot_scenario/meshes/laser" />
<xacro:laser name="laser_vert_top_left" parent="base" xyz="0.2997 0.1531 1.8443" rpy="1.1780 0.6198 1.9560" meshes="package://gazebo_plugins/test/multi_robot_scenario/meshes/laser" />
<VLP-16 parent="base" name="laser_horiz" topic="laser_horiz/packets" hz="10" samples="440" gpu="false" >
<origin xyz="0.2325416305773505 -0.0001380069427607134 1.920122926231907" rpy="-0.0012068 0.114646 -0.0015308" />
</VLP-16>
<!-- <link name="laser_vert_bottom">
<visual>
<geometry>
<box size="0.062 0.062 0.087"/>
</geometry>
<origin xyz="0.3158 -0.0021 0.5100" rpy="3.1355 -1.3045 0.0025"/>
</visual>
<collision>
<geometry>
<box size="0.062 0.062 0.087"/>
</geometry>
<origin xyz="0.3158 -0.0021 0.5100" rpy="3.1355 -1.3045 0.0025"/>
</collision>
</link>
<joint name="base_to_vert_bottom" type="fixed">
<parent link="base_link"/>
<child link="laser_vert_bottom"/>
<origin xyz="0 0 0"/>
</joint>
<link name="laser_vert_top_right">
<visual>
<geometry>
<box size="0.062 0.062 0.087"/>
</geometry>
<origin xyz="0.2978 -0.1450 1.8451" rpy="-1.1760 0.6313 -1.9377"/>
</visual>
<collision>
<geometry>
<box size="0.062 0.062 0.087"/>
</geometry>
<origin xyz="0.2978 -0.1450 1.8451" rpy="-1.1760 0.6313 -1.9377"/>
</collision>
</link>
<joint name="base_to_vert_top_right" type="fixed">
<parent link="base_link"/>
<child link="laser_vert_top_right"/>
<origin xyz="0 0 0"/>
</joint>
<xacro:laser name="laser_vert_top_right" parent="base" xyz="0.2978 -0.1450 1.8451" rpy="-1.1760 0.6313 -1.9377" meshes="package://gazebo_plugins/test/multi_robot_scenario/meshes/laser" />
<link name="laser_vert_top_left">
<visual>
<geometry>
<box size="0.062 0.062 0.087"/>
</geometry>
<origin xyz="0.2997 0.1531 1.8443" rpy="1.1780 0.6198 1.9560"/>
</visual>
<collision>
<geometry>
<box size="0.062 0.062 0.087"/>
</geometry>
<origin xyz="0.2997 0.1531 1.8443" rpy="1.1780 0.6198 1.9560"/>
</collision>
</link>
<joint name="base_to_vert_top_left" type="fixed">
<parent link="base_link"/>
<child link="laser_vert_top_left"/>
<origin xyz="0 0 0"/>
</joint>
<xacro:laser name="laser_vert_top_left" parent="base" xyz="0.2997 0.1531 1.8443" rpy="1.1780 0.6198 1.9560" meshes="package://gazebo_plugins/test/multi_robot_scenario/meshes/laser" />
<link name="laser_horiz">
<visual>
<geometry>
<cylinder radius="0.052" length="0.072"/>
</geometry>
<origin xyz="0.2325 0.0001 1.9201" rpy="0.2325 -0.0001 1.9201"/>
</visual>
<collision>
<geometry>
<cylinder radius="0.052" length="0.072"/>
</geometry>
<origin xyz="0.2325 0.0001 1.9201" rpy="0.2325 -0.0001 1.9201"/>
</collision>
</link>
<joint name="base_to_horiz" type="fixed">
<parent link="base_link"/>
<child link="laser_horiz"/>
<origin xyz="0 0 0"/>
</joint>
<xacro:laser name="laser_horiz" parent="base" xyz="0.2325 0.0001 1.9201" rpy="0.2325 -0.0001 1.9201" meshes="package://gazebo_plugins/test/multi_robot_scenario/meshes/laser" /> -->
<xacro:macro name="wheelmaker" params="suffix reflect">
<link name="wheel_${suffix}">
<visual>
<geometry>
<cylinder radius="0.2" length="0.05" />
</geometry>
<origin xyz="-0.10 ${reflect*0.4} 0.0" rpy="${-pi/2} 0 0" />
</visual>
<collision>
<geometry>
<cylinder radius="0.2" length="0.05" />
</geometry>
<origin xyz="-0.10 ${reflect*0.4} 0.0" rpy="${-pi/2} 0 0" />
</collision>
</link>
<joint name="base_to_wheel_${suffix}" type="continuous">
<parent link="base" />
<child link="wheel_${suffix}" />
<origin xyz="0 0 0" />
<limit effort="1" velocity="1" />
</joint>
</xacro:macro>
<xacro:wheelmaker suffix="left" reflect="1" />
<xacro:wheelmaker suffix="right" reflect="-1" />
<xacro:macro name="wheelmaker" params="suffix reflect">
<link name="wheel_${suffix}">
<visual>
<geometry>
<cylinder radius="0.15" length="0.05" />
</geometry>
<origin xyz="0.10 0.0 -0.05" rpy="${-pi/2} 0 0" />
</visual>
<collision>
<geometry>
<cylinder radius="0.15" length="0.05" />
</geometry>
<origin xyz="0.10 0.0 -0.05" rpy="${-pi/2} 0 0" />
</collision>
</link>
<joint name="base_to_wheel_${suffix}" type="continuous">
<parent link="base" />
<child link="wheel_${suffix}" />
<origin xyz="0 0 0" />
<limit effort="1" velocity="1" />
</joint>
</xacro:macro>
<xacro:wheelmaker suffix="center" reflect="1" />
</robot>