generated from joshnewans/my_bot
/
robot_core.xacro
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/
robot_core.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
<xacro:include filename="inertial_macros.xacro"/>
<xacro:property name="chassis_length" value="0.335"/>
<xacro:property name="chassis_width" value="0.265"/>
<xacro:property name="chassis_height" value="0.138"/>
<xacro:property name="chassis_mass" value="1.0"/>
<xacro:property name="wheel_radius" value="0.033"/>
<xacro:property name="wheel_thickness" value="0.026"/>
<xacro:property name="wheel_mass" value="0.05"/>
<xacro:property name="wheel_offset_x" value="0.226"/>
<xacro:property name="wheel_offset_y" value="0.1485"/>
<xacro:property name="wheel_offset_z" value="0.01"/>
<xacro:property name="caster_wheel_radius" value="0.01"/>
<xacro:property name="caster_wheel_mass" value="0.01"/>
<xacro:property name="caster_wheel_offset_x" value="0.075"/>
<xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/>
<material name="white">
<color rgba="1 1 1 1" />
</material>
<material name="orange">
<color rgba="1 0.3 0.1 1"/>
</material>
<material name="blue">
<color rgba="0.2 0.2 1 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
<!-- BASE LINK -->
<link name="base_link">
</link>
<!-- BASE_FOOTPRINT LINK -->
<joint name="base_footprint_joint" type="fixed">
<parent link="base_link"/>
<child link="base_footprint"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="base_footprint">
</link>
<!-- CHASSIS LINK -->
<joint name="chassis_joint" type="fixed">
<parent link="base_link"/>
<child link="chassis"/>
<origin xyz="${-wheel_offset_x} 0 ${-wheel_offset_z}"/>
</joint>
<link name="chassis">
<visual>
<origin xyz="${chassis_length/2} 0 ${chassis_height/2}"/>
<geometry>
<box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin xyz="${chassis_length/2} 0 ${chassis_height/2}"/>
<geometry>
<box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
</geometry>
</collision>
<xacro:inertial_box mass="0.5" x="${chassis_length}" y="${chassis_width}" z="${chassis_height}">
<origin xyz="${chassis_length/2} 0 ${chassis_height/2}" rpy="0 0 0"/>
</xacro:inertial_box>
</link>
<gazebo reference="chassis">
<material>Gazebo/Orange</material>
</gazebo>
<!-- LEFT WHEEL LINK -->
<joint name="left_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="left_wheel"/>
<origin xyz="0 ${wheel_offset_y} 0" rpy="-${pi/2} 0 0" />
<axis xyz="0 0 1"/>
</joint>
<link name="left_wheel">
<visual>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<sphere radius="${wheel_radius}"/>
</geometry>
</collision>
<xacro:inertial_cylinder mass="${wheel_mass}" length="${wheel_thickness}" radius="${wheel_radius}">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_cylinder>
</link>
<gazebo reference="left_wheel">
<material>Gazebo/Blue</material>
</gazebo>
<!-- RIGHT WHEEL LINK -->
<joint name="right_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="right_wheel"/>
<origin xyz="0 ${-wheel_offset_y} 0" rpy="${pi/2} 0 0" />
<axis xyz="0 0 -1"/>
</joint>
<link name="right_wheel">
<visual>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<sphere radius="${wheel_radius}"/>
</geometry>
</collision>
<xacro:inertial_cylinder mass="${wheel_mass}" length="${wheel_thickness}" radius="${wheel_radius}">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_cylinder>
</link>
<gazebo reference="right_wheel">
<material>Gazebo/Blue</material>
</gazebo>
<!-- CASTER WHEEL LINK -->
<joint name="caster_wheel_joint" type="fixed">
<parent link="chassis"/>
<child link="caster_wheel"/>
<origin xyz="${caster_wheel_offset_x} 0 ${caster_wheel_offset_z}"/>
</joint>
<link name="caster_wheel">
<visual>
<geometry>
<sphere radius="${caster_wheel_radius}"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<sphere radius="${caster_wheel_radius}"/>
</geometry>
</collision>
<xacro:inertial_sphere mass="${caster_wheel_mass}" radius="${caster_wheel_radius}">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_sphere>
</link>
<gazebo reference="caster_wheel">
<material>Gazebo/White</material>
<mu1 value="0.001"/>
<mu2 value="0.001"/>
</gazebo>
</robot>