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vehicle.urdf
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vehicle.urdf
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<?xml version="1.0"?>
<!-- note: if inertia values are set to 0, bullet will re-compute our inertias for us-->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="vehicle">
<link name="base_link">
<inertial>
<mass value="1"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<link name="chassis">
<collision name="chassis">
<origin xyz="0.0 0.0 0.6" rpy="0 0 0"/>
<geometry>
<box size="1.47 3.68 1"/>
</geometry>
</collision>
<inertial>
<mass value="2356.0"/>
<origin xyz="0 -0.1 0.20" rpy="0 0 1.5708"/>
<inertia ixx="2581.13354740" ixy="0.0" ixz="0.0" iyy="591.30846112" iyz="0.0" izz="2681.95008628"/>
</inertial>
</link>
<link name="fl_axle">
<inertial>
<mass value="1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="3" izz="0"/>
</inertial>
</link>
<link name="fr_axle">
<inertial>
<mass value="1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="3" izz="0"/>
</inertial>
</link>
<link name="front_left_wheel">
<inertial>
<mass value="15"/>
<origin xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="2"/>
</inertial>
<collision name="front_left_wheel_collision">
<origin rpy="0 1.5707963267948966 0"/>
<geometry>
<cylinder length="0.25" radius="0.31265"/>
</geometry>
</collision>
</link>
<link name="front_right_wheel">
<inertial>
<mass value="15"/>
<origin xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="2"/>
</inertial>
<collision name="front_right_wheel_collision">
<origin rpy="0 1.5707963267948966 0"/>
<geometry>
<cylinder length="0.25" radius="0.31265"/>
</geometry>
</collision>
</link>
<link name="rear_left_wheel">
<inertial>
<mass value="15"/>
<origin xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="2"/>
</inertial>
<collision name="rear_left_wheel_collision">
<origin rpy="0 1.5707963267948966 0"/>
<geometry>
<cylinder length="0.25" radius="0.31265"/>
</geometry>
</collision>
</link>
<link name="rear_right_wheel">
<inertial>
<mass value="15"/>
<origin xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="2"/>
</inertial>
<collision name="rear_right_wheel_collision">
<origin rpy="0 1.5707963267948966 0"/>
<geometry>
<cylinder length="0.25" radius="0.31265"/>
</geometry>
</collision>
</link>
<joint name="base_link_connection" type="fixed">
<parent link="base_link"/>
<child link="chassis"/>
<origin xyz="0 0 0" rpy="0 0 3.141592653589793"/>
</joint>
<joint name="front_left_steer_joint" type="revolute">
<parent link="chassis"/>
<child link="fl_axle"/>
<origin xyz="0.5 -1.5 0.3" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="-0.8727" upper="0.8727" effort="10000000" velocity="1000000"/>
</joint>
<joint name="front_right_steer_joint" type="revolute">
<parent link="chassis"/>
<child link="fr_axle"/>
<origin xyz="-0.5 -1.5 0.3" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="-0.8727" upper="0.8727" effort="10000000" velocity="1000000"/>
</joint>
<joint name="front_left_wheel_joint" type="continuous">
<parent link="fl_axle"/>
<child link="front_left_wheel"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="front_right_wheel_joint" type="continuous">
<parent link="fr_axle"/>
<child link="front_right_wheel"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="rear_left_wheel_joint" type="continuous">
<parent link="chassis"/>
<child link="rear_left_wheel"/>
<origin xyz="0.5 1.5 0.3" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="rear_right_wheel_joint" type="continuous">
<parent link="chassis"/>
<child link="rear_right_wheel"/>
<origin xyz="-0.5 1.5 0.3" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
</robot>