ROS入门5

5 urdf
统一机器人描述格式
机器人的组成部件为：link，link间的连接为：joint。

实例：

<robot name="mycar">  
  <link name="base_link">  
 <visual>  
   <geometry>  
      <cylinder length=".06" radius="0.27"></cylinder>  
   </geometry>  
   <origin rpy="0 0 0" xyz="0 0 0.1"/>  
   <material name="white">  
     <color rgba="1 1 1 1"/>  
   </material>  
</visual>  
   </link>  

<link name="right">  
<visual>  
  <geometry>  
    <cylinder length="0.04" radius="0.07"/>  
  </geometry>  
  <origin rpy="1.5707  0  0" xyz="0 0 0"/>  
  <material name="black">  
    <color rgba="0 0 0 1"/>  
  </material>  
</visual>  
</link>  

<link name="left">  
<visual>  
  <geometry>  
    <cylinder length="0.04" radius="0.07"/>  
  </geometry>  
  <origin rpy="1.5707  0  0" xyz="0 0 0"/>  
  <material name="black"/>  
</visual>  
</link>  

<joint name="right" type="continuous"> 
<origin rpy="0  0  0" xyz="0 -0.2 0.07"/>   
<parent link="base_link"/>  
<child link="right"/>  
</joint>  

<joint name="left" type="continuous">  
<origin rpy="0 0 0" xyz="0 0.2 0.07"/>
<parent link="base_link"/>  
<child link="left"/>   
</joint>  

<link name="rplidar">
<inertial>
  <mass value="1e-5"/>
  <origin rpy="0 0 0" xyz="0 0 0"/>
  <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
<visual>
  <origin rpy="0 0 0" xyz="0 0 0"/>
  <geometry>
    <mesh filename="package://urdf_demo/urdf/rplidar.dae"/>
  </geometry>
</visual>
<collision>
  <origin rpy="0 0 0" xyz="0 0 0"/>
  <geometry>
    <cylinder length=".04" radius="0.035"></cylinder>  
  </geometry>
</collision>
</link>
 <joint name="rplidar_joint" type="fixed">
<axis xyz="0 1 0"/>
<origin xyz="0.2 0 0.12"/>
<parent link="base_link"/>
 <child link="rplidar"/>
</joint>

</robot>  






 <robot name="mycar">  
 <link name="base_link" />  
  <link name="right" />  
 <link name="left" />  
 <link name="rplidar"/>

<joint name="right" type="continuous"> 
<parent link="base_link"/>     </joint>  

<joint name="left" type="continuous">  
<parent link="base_link"/>  
<child link="left"/>   
</joint>  

<joint name="rplidar_joint" type="fixed">
<parent link="base_link"/>
<child link="rplidar"/>
</joint>

</robot>  




 <robot name="mycar">  
 <link name="base_link" />  
<link name="right" />  
<link name="left" />  
<link name="rplidar"/>

 <joint name="right" type="continuous"> 
<origin rpy="0  0  0" xyz="0 -0.2 0.07"/>   
<parent link="base_link"/>  
<child link="right"/>  
</joint>  

 <joint name="left" type="continuous">  
<origin rpy="0 0 0" xyz="0 0.2 0.07"/>
<parent link="base_link"/>  
<child link="left"/>   
</joint>  

  <joint name="rplidar_joint" type="fixed">
<origin xyz="0.2 0 0.12"/>
<parent link="base_link"/>
<child link="rplidar"/>
 </joint>

 </robot>