ros之urdf文件

ros之urdf文件

launch文件：

<launch>
	<param name="robot_description" textfile="$(find mbot_description)/urdf/urdf/car.urdf" />

	<!-- 设置GUI参数，显示关节控制插件 -->
	<param name="use_gui" value="False"/>
	
	<!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
	
	<!-- 运行robot_state_publisher节点，发布tf  -->
	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
	
	
</launch>

一个简单的urdf文件：

<?xml version="1.0"?> 
<robot name="smartcar">
 <link name="base_footprint">
    <visual>
      <geometry>
        <box
         size="0.001 0.001 0.001"/>
      </geometry>
	<origin
	 rpy="0 0 0" xyz="0 0 0.16575"/>
    </visual>
    <inertial>
      <mass
       value="0.0001" />
        <inertia
         ixx="1.0E-10"
         ixy="0.0"
         ixz="0.0"
         iyy="1.0E-10" 
         iyz="0.0"
         izz="1.0E-10" />
        </inertial>
  </link>

  <joint name="base_footprint_joint" type="fixed"> <!-- type是指关节的类型，name是指名称 -->
    <origin xyz="0 0 0.16575" />
      <parent link="base_footprint" />
        <child link="base_link" />
  </joint>

    <link name="base_link">
        <visual>
            <geometry>
                <box size="0.58 .98 .3"/>
            </geometry>

            <origin rpy="0 0 1.57075" xyz="0 0 0"/>

            <material name="blue">
                <color rgba="0 .5 .8 1"/>
            </material>
        </visual>
    </link>

    <link name="right_front_wheel">  
        <visual>  
            <geometry>  
                <cylinder length=".12" radius="0.15"/>  
            </geometry>  

            <material name="black">  
                <color rgba="0 0 0 1"/>  
            </material>  
        </visual>  
    </link>  
    
    <joint name="right_front_wheel_joint" type="continuous">  
        <axis xyz="0 0 1"/>  
        <parent link="base_link"/>  
        <child link="right_front_wheel"/>  
        <origin rpy="0 1.57075 0" xyz="0.2 0.2 -0.2"/>  
        <limit effort="100" velocity="100"/>  
        <joint_properties damping="0.0" friction="0.0"/>  
    </joint>  
    
    <link name="right_back_wheel">  
    <visual>  
        <geometry>  
        <cylinder length=".12" radius="0.15"/>  
        </geometry>  
        <material name="black">  
        <color rgba="0 0 0 1"/>  
        </material>  
    </visual>  
    </link>  
    
    <joint name="right_back_wheel_joint" type="continuous">  
        <axis xyz="0 0 1"/>  
        <parent link="base_link"/>  
        <child link="right_back_wheel"/>  
        <origin rpy="0 1.57075 0" xyz="0.2 -0.2 -0.2"/>  
        <limit effort="100" velocity="100"/>  
        <joint_properties damping="0.0" friction="0.0"/>  
    </joint>  
    
    <link name="left_front_wheel">  
        <visual>  
            <geometry>  
                <cylinder length=".12" radius="0.15"/>  
            </geometry>  
            <material name="black">  
                <color rgba="0 0 0 1"/>  
            </material>  
        </visual>  
    </link>  
    
    <joint name="left_front_wheel_joint" type="continuous">  
        <axis xyz="0 0 1"/>  
        <parent link="base_link"/>  
        <child link="left_front_wheel"/>  
        <origin rpy="0 1.57075 0" xyz="-0.2 0.2 -0.2"/>  
        <limit effort="100" velocity="100"/>  
        <joint_properties damping="0.0" friction="0.0"/>  
    </joint>  
    
    <link name="left_back_wheel">  
        <visual>  
            <geometry>  
                <cylinder length=".12" radius="0.15"/>  
            </geometry>  
            <material name="black">  
                <color rgba="0 0 0 1"/>  
            </material>  
        </visual>  
    </link>  
    
    <joint name="left_back_wheel_joint" type="continuous">  
        <axis xyz="0 0 1"/>  
        <parent link="base_link"/>  
        <child link="left_back_wheel"/>  
        <origin rpy="0 1.57075 0" xyz="-0.2 -0.2 -0.2"/>  
        <limit effort="100" velocity="100"/>  
        <joint_properties damping="0.0" friction="0.0"/>  
    </joint>
</robot>