使用xacro模块化建模
定义常量:
< xacro: property name = " M_PI" value = " 3.1415926" />
< xacro: property name = " base_mass" value = " 20" />
< xacro: property name = " base_radius" value = " 0.20" />
< xacro: property name = " base_length" value = " 0.16" />
< xacro: property name = " wheel_mass" value = " 2" />
< xacro: property name = " wheel_radius" value = " 0.06" />
< xacro: property name = " wheel_length" value = " 0.025" />
< xacro: property name = " wheel_joint_y" value = " 0.19" />
< xacro: property name = " wheel_joint_z" value = " 0.05" />
< xacro: property name = " caster_mass" value = " 0.5" />
< xacro: property name = " caster_radius" value = " 0.015" />
< xacro: property name = " caster_joint_x" value = " 0.18" />
定义颜色:
< material name = " yellow" >
< color rgba = " 1 0.4 0 1" />
</ material>
< material name = " black" >
< color rgba = " 0 0 0 0.95" />
</ material>
< material name = " gray" >
< color rgba = " 0.75 0.75 0.75 1" />
</ material>
宏定义:
< xacro: macro name = " sphere_inertial_matrix" params = " m r" >
< xacro: macro name = " wheel" params = " prefix1 prefix2 reflect1 reflect2" >
< joint name = " ${prefix1}_${prefix2}_wheel_joint" type = " continuous" >
< axis xyz = " 0 0 1" />
< origin xyz<