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robot_des.xacro
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robot_des.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://wwww.ros.org/wiki/xacro" name="navvis">
<link name="base">
<visual>
<origin xyz="0.0 0.0 0.96" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.45 0.78 1.98"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.96" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.45 0.78 1.98"/>
</geometry>
</collision>
</link>
<link name="laser_vert_bottom">
<visual>
<origin xyz="0.3158 -0.0021 0.5100" rpy="3.1355 -1.3045 0.0025"/>
<geometry>
<box size="0.062 0.062 0.087"/>
</geometry>
</visual>
<collision>
<origin xyz="0.3158 -0.0021 -0.5100" rpy="3.1355 -1.3045 0.0025"/>
<geometry>
<box size="0.062 0.062 0.087"/>
</geometry>
</collision>
</link>
<joint name="base_laser_vert_bottom_joint" type="fixed">
<parent link="base"/>
<child link="laser_vert_bottom"/>
<origin xyz="0 0 0"/>
</joint>
<link name="laser_vert_top_right">
<visual>
<origin xyz="0.2978 -0.1450 1.8451" rpy="-1.1760 0.6313 -1.9377"/>
<geometry>
<box size="0.062 0.062 0.087"/>
</geometry>
</visual>
<collision>
<origin xyz="0.2978 -0.1450 1.8451" rpy="-1.1760 0.6313 -1.9377"/>
<geometry>
<box size="0.062 0.062 0.087"/>
</geometry>
</collision>
</link>
<joint name="base_laser_vert_top_right_joint" type="fixed">
<parent link="base"/>
<child link="laser_vert_top_right"/>
<origin xyz="0 0 0"/>
</joint>
<link name="laser_vert_top_left">
<visual>
<origin xyz="0.2997 0.1531 1.8443" rpy="1.1780 0.6198 1.9560"/>
<geometry>
<box size="0.062 0.062 0.087"/>
</geometry>
</visual>
<collision>
<origin xyz="0.2997 0.1531 1.8443" rpy="1.1780 0.6198 1.9560"/>
<geometry>
<box size="0.062 0.062 0.087"/>
</geometry>
</collision>
</link>
<joint name="base_laser_vert_top_left_joint" type="fixed">
<parent link="base"/>
<child link="laser_vert_top_left"/>
<origin xyz="0 0 0"/>
</joint>
<link name="laser_horiz">
<visual>
<origin xyz="0.2325 0.0001 1.9201" rpy="-0.0012 0.1146 -0.0015"/>
<geometry>
<cylinder radius="0.052" length="0.072"/>
</geometry>
</visual>
<collision>
<origin xyz="0.2325 0.0001 1.9201" rpy="-0.0012 0.1146 -0.0015"/>
<geometry>
<cylinder radius="0.052" length="0.072"/>
</geometry>
</collision>
</link>
<joint name="base_laser_horiz_joint" type="fixed">
<parent link="base"/>
<child link="laser_horiz"/>
<origin xyz="0 0 0"/>
</joint>
<xacro:macro name="wheel_maker" params="side reflect">
<link name="wheel_left">
<visual>
<origin xyz="-0.10 0.4 0.0" rpy="-pi/2 0.0 0.0"/>
<geometry>
<cylinder radius="0.2" length="0.05"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.10 0.4 0.0" rpy="-pi/2 0.0 0.0"/>
<geometry>
<cylinder radius="0.2" length="0.05"/>
</geometry>
</collision>
</link>
<joint name="base_wheel_left_joint" type="fixed">
<parent link="base"/>
<child link="wheel_left"/>
<origin xyz="0.0 0.0 0.0"/>
</joint>
</xacro:macro>
<xacro:wheel_maker side="left" reflect="1"/>
</robot>
<!---
<link name="wheel_right">
<visual>
<origin xyz="-0.10 -0.4 0.0" rpy="-pi/2 0.0 0.0"/>
<geometry>
<cylinder radius="0.2" length="0.05"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.10 -0.4 0.0" rpy="-pi/2 0.0 0.0"/>
<geometry>
<cylinder radius="0.2" length="0.05"/>
</geometry>
</collision>
</link>
<joint name="base_wheel_right_joint" type="fixed">
<parent link="base"/>
<child link="wheel_right"/>
<origin xyz="0.0 0.0 0.0"/>
</joint>
<link name="wheel_center">
<visual>
<origin xyz="-0.10 0.0 0.0" rpy="-pi/2 0.0 0.0"/>
<geometry>
<cylinder radius="0.2" length="0.05"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.10 0.0 0.0" rpy="-pi/2 0.0 0.0"/>
<geometry>
<cylinder radius="0.2" length="0.05"/>
</geometry>
</collision>
</link>