ROS进阶---urdf模型进阶之xacro模型

标题URDF模型文件进阶—xacro模型文件

一.两种模型文件对比

1代码精简
2提供可编程接口（常量，数学计算，宏定义，宏调用）

二.模型优化

1.urdf模型

<?xml version="1.0" ?>
<robot name="mbot">

    <link name="base_link">
        <visual>
            <origin xyz=" 0 0 0" rpy="0 0 0" />
            <geometry>
                <box size="0.46 0.20 0.07"/>
            </geometry>
            <material name="black">
                <color rgba="0 0 0 0.7"/>
            </material>
        </visual>
    </link>

    <joint name="left_front_wheel_joint" type="continuous">
        <origin xyz="0.2 0.11 -0.015" rpy="0 0 0"/>
        <parent link="base_link"/>
        <child link="left_front_wheel_link"/>
        <axis xyz="0 1 0"/>
    </joint>

    <link name="left_front_wheel_link">
        <visual>
            <origin xyz="0 0 0" rpy="1.5707 0 0" />
            <geometry>
                <cylinder radius="0.07" length = "0.02"/>
            </geometry>
            <material name="white">
                <color rgba="255 255 255 0.7"/>
            </material>
        </visual>
    </link>
    
    <joint name="right_front_wheel_joint" type="continuous">
        <origin xyz="0.2 -0.11 -0.015" rpy="0 0 0"/>
        <parent link="base_link"/>
        <child link="right_front_wheel_link"/>
        <axis xyz="0 1 0"/>
    </joint>

    <link name="right_front_wheel_link">
        <visual>
            <origin xyz="0 0 0" rpy="1.5707 0 0" />
            <geometry>
                <cylinder radius="0.07" length = "0.02"/>
            </geometry>
            <material name="white">
                <color rgba="255 255 255 0.7"/>
            </material>
        </visual>
    </link>
   <joint name="left_back_wheel_joint" type="continuous">
        <origin xyz="-0.2 0.11 -0.015" rpy="0 0 0"/>
        <parent link="base_link"/>
        <child link="left_back_wheel_link"/>
        <axis xyz="0 1 0"/>
    </joint>

    <link name="left_back_wheel_link">
        <visual>
            <origin xyz="0 0 0" rpy="1.5707 0 0" />
            <geometry>
                <cylinder radius="0.07" length = "0.02"/>
            </geometry>
            <material name="white">
                <color rgba="255 255 255 0.7"/>
            </material>
        </visual>
    </link>
    
    <joint name="right_back_wheel_joint" type="continuous"