/
corpus.xacro
45 lines (40 loc) · 1.22 KB
/
corpus.xacro
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<?xml version="1.0"?>
<robot name="corpus" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- *********************************************************************** -->
<xacro:include filename="$(find custom_ackermann_steering_controller_ros)/urdf/common_macro.xacro" />
<!-- *********************************************************************** -->
<xacro:macro
name="corpus"
params="
link_name
length
width
height
mass">
<link name="${link_name}">
<visual>
<origin
rpy= "0 0 0"
xyz= "0 0 0"/>
<geometry>
<box size="${length} ${width} ${height}"/>
</geometry>
<material name="Blue">
<color rgba="0.0 0.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin
rpy= "0 0 0"
xyz= "0 0 0"/>
<geometry>
<box size="${length} ${width} ${height}"/>
</geometry>
</collision>
<xacro:inertial_matrix mass="${mass}"/>
</link>
<gazebo reference ="${link_name}">
<material>Gazebo/Blue</material>
</gazebo>
</xacro:macro>
</robot>