diffbot.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="diffbot">

  <xacro:property name="package_name" value="diffbot_description"/>
  <xacro:property name="robot_name" value="diffbot"/>

  <xacro:include filename="$(find ${package_name})/urdf/include/common_macros.urdf.xacro" />
  <xacro:include filename="$(find ${package_name})/urdf/include/diffbot_caster_macro.urdf.xacro" />
  <xacro:include filename="$(find ${package_name})/urdf/include/common_sensors.xacro" />
  <xacro:include filename="$(find ${package_name})/urdf/include/robot.gazebo.xacro" />

  <xacro:property name="caster_wheel_yaml" value="$(find ${package_name})/config/${robot_name}/caster_wheel.yaml" />
  <xacro:property name="caster_wheel_props" value="${xacro.load_yaml(caster_wheel_yaml)}"/>

  <xacro:property name="front_wheel_yaml" value="$(find ${package_name})/config/${robot_name}/front_wheel.yaml" />
  <xacro:property name="front_wheel_props" value="${xacro.load_yaml(front_wheel_yaml)}"/>

  <xacro:property name="motor_yaml" value="$(find ${package_name})/config/${robot_name}/motor.yaml" />
  <xacro:property name="motor_props" value="${xacro.load_yaml(motor_yaml)}"/>

  <xacro:property name="base_yaml" value="$(find ${package_name})/config/${robot_name}/base.yaml" />
  <xacro:property name="base_props" value="${xacro.load_yaml(base_yaml)}"/>

  <xacro:property name="sensor_yaml" value="$(find ${package_name})/config/${robot_name}/sensors.yaml" />
  <xacro:property name="sensor_prop" value="${xacro.load_yaml(sensor_yaml)}"/>


  <!-- Footprint link -->
  <xacro:footprint wheel_props="${front_wheel_props}" />

  <!-- Base link -->
  <xacro:base base_prop="${base_props}" mesh="${base_props['base']['mesh']}" >
    <origin xyz="0 0 0" rpy="0 0 0" />
  </xacro:base>

  <!-- Back Caster Wheel -->
  <xacro:caster_wheel prefix="rear" reflect="-1"
                      wheel_props="${caster_wheel_props}">
  </xacro:caster_wheel>

  <!-- Front Wheels -->
  <xacro:wheel prefix="front_right" reflect="-1" 
                      wheel_props="${front_wheel_props}"
                      base_props="${base_props}" > 
  </xacro:wheel>

  <xacro:wheel prefix="front_left" reflect="1" 
                      wheel_props="${front_wheel_props}"
                      base_props="${base_props}" > 
  </xacro:wheel>


  <!-- Motors -->
  <xacro:motor prefix="right" reflect="-1" 
                      motor_props="${motor_props}"
                      base_props="${base_props}" > 
  </xacro:motor>

  <xacro:motor prefix="left" reflect="1" 
                      motor_props="${motor_props}"
                      base_props="${base_props}" > 
  </xacro:motor>

  <!-- Sensors -->
  <xacro:laser prefix="rplidar" parent_link="base_link"
                   sensor_prop="${sensor_prop}"
                   enable_gpu="${sensor_prop['laser']['enable_gpu']}">
  </xacro:laser>

  <!-- Gazebo -->
  <xacro:gazebo_ros_control robotNamespace="/diffbot">
  </xacro:gazebo_ros_control>

</robot>