rover.urdf.xacro

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



<link name="base_footprint"/>

<link name="base_link">
    <inertial>
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
        <mass value="1.0"/>
        <inertia ixx="0.4" ixy="0.0" ixz="0.0"
                 iyy="0.4" iyz="0.0"
                 izz="0.2"/>
    </inertial>
    <visual name="">
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
        <geometry>
            <box size="0.8 0.7 0.1"/>
        </geometry>
        <material name="">
            <color rgba="1.0 0.0 0.0 1.0"/>
            <texture filename=""/>
        </material>
    </visual>
    <collision>
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
        <geometry>
            <box size="0.0 0.0 0.0"/>
        </geometry>
    </collision>
</link>

<joint name="base_joint" type="fixed">
    <origin xyz="0.0 0.0 0.135" rpy="0.0 0.0 0.0"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <axis xyz="0.0 0.0 0.0"/>
</joint>

<!-- All Wheel links and joints -->


<xacro:macro name="wheel" params="name x y">

    <link name="wheel_${name}_link">
        <inertial>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <mass value="0.5"/>
            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
        </inertial>
        <visual name="">
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <geometry>
                <mesh filename="package://mobile_robot/meshes/left_tire.stl" scale="0.005 0.005 0.005"/>
            </geometry>
            <material name="black">
                <color rgba=".0 .0 0.0 1.0"/>
            </material>
        </visual>
        <collision>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <geometry>
                <mesh filename="package://mobile_robot/meshes/left_tire.stl" scale="0.005 0.005 0.005"/>
            </geometry>
        </collision>
    </link>

    <joint name="wheel_${name}_joint" type="continuous">
        <origin xyz="${x} ${y} .0" rpy="0 0.0 0.0"/>
        <parent link="base_link"/>
        <child link="wheel_${name}_link"/>
        <axis xyz=".0 .0 1.0"/>
    </joint>

</xacro:macro>


<!-- Wheel Creating using macros -->
<xacro:wheel name="rear_right"  x="0.250" y =" 0.40"/>
<xacro:wheel name="front_right" x="-0.250" y =" 0.40"/>
<xacro:wheel name="front_left"  x="-0.250" y =" -0.40"/>
<xacro:wheel name="rear_left"   x="0.250" y =" -0.40"/>




</robot>