smartcar_body.urdf.xacro

<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" 
     xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
    name="robot1_xacro">


    <xacro:property name="length_wheel" value="0.05" />
    <xacro:property name="radius_wheel" value="0.05" />
    <xacro:macro name="default_inertial" params="mass">
               <inertial>
                       <mass value="${mass}" />
                       <inertia ixx="1.0" ixy="0.0" ixz="0.0"
                                iyy="1.0" iyz="0.0"
                                izz="1.0" />
               </inertial>
    </xacro:macro>


    <link name="base_link">
           <visual>
            <geometry>
                      <box size="0.2 .3 .1"/>
                 </geometry>
            <origin rpy="0 0 1.54" xyz="0 0 0.05"/>
            <material name="white">
                <color rgba="1 1 1 1"/>
            </material>
           </visual>
        <collision>
            <geometry>
                       <box size="0.2 .3 0.1"/>
            </geometry>
        </collision>
        <xacro:default_inertial mass="10"/>
     </link> <?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" 
     xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
    name="robot1_xacro">


    <xacro:property name="length_wheel" value="0.05" />
    <xacro:property name="radius_wheel" value="0.05" />
    <xacro:macro name="default_inertial" params="mass">
               <inertial>
                       <mass value="${mass}" />
                       <inertia ixx="1.0" ixy="0.0" ixz="0.0"
                                iyy="1.0" iyz="0.0"
                                izz="1.0" />
               </inertial>
    </xacro:macro>


    <link name="base_link">
           <visual>
            <geometry>
                      <box size="0.2 .3 .1"/>
                 </geometry>
            <origin rpy="0 0 1.54" xyz="0 0 0.05"/>
            <material name="white">
                <color rgba="1 1 1 1"/>
            </material>
           </visual>
        <collision>
            <geometry>
                       <box size="0.2 .3 0.1"/>
            </geometry>

<link name="wheel_1"> <visual> <geometry> <cylinder length="${length_wheel}" radius="${radius_wheel}"/> </geometry> <!-- <origin rpy="0 1.5 0" xyz="0.1 0.1 0"/> --> <origin rpy="0 0 0" xyz="0 0 0"/> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> <collision> <geometry> <cylinder length="${length_wheel}" radius="${radius_wheel}"/> </geometry> </collision> <xacro:default_inertial mass="1"/> </link> <link name="wheel_2"> <visual> <geometry> <cylinder length="${length_wheel}" radius="${radius_wheel}"/> </geometry> <!-- <origin rpy="0 1.5 0" xyz="-0.1 0.1 0"/> --> <origin rpy="0 0 0" xyz="0 0 0"/> <material name="black"/> </visual> <collision> <geometry> <cylinder length="${length_wheel}" radius="${radius_wheel}"/> </geometry> </collision> <xacro:default_inertial mass="1"/> </link> <link name="wheel_3"> <visual> <geometry> <cylinder length="${length_wheel}" radius="${radius_wheel}"/> </geometry> <!-- <origin rpy="0 1.5 0" xyz="0.1 -0.1 0"/> --> <origin rpy="0 0 0" xyz="0 0 0"/> <material name="black"/> </visual> <collision> <geometry> <cylinder length="${length_wheel}" radius="${radius_wheel}"/> </geometry> </collision> <xacro:default_inertial mass="1"/> </link> <link name="wheel_4"> <visual> <geometry> <cylinder length="${length_wheel}" radius="${radius_wheel}"/> </geometry> <!-- <origin rpy="0 1.5 0" xyz="-0.1 -0.1 0"/> --> <origin rpy="0 0 0" xyz="0 0 0" /> <material name="black"/> </visual> <collision> <geometry> <cylinder length="${length_wheel}" radius="${radius_wheel}"/> </geometry> </collision> <xacro:default_inertial mass="1"/> </link> <joint name="base_to_wheel1" type="continuous"> <parent link="base_link"/> <child link="wheel_1"/> <origin rpy="1.5707 0 1.5707" xyz="0.1 0.15 0"/> <axis xyz="0 0 1" /> </joint> <joint name="base_to_wheel2" type="continuous"> <axis xyz="0 0 1" /> <anchor xyz="0 0 0" /> <limit effort="100" velocity="100" /> <parent link="base_link"/> <child link="wheel_2"/> <origin rpy="1.5707 0 1.5707" xyz="-0.1 0.15 0"/> </joint> <joint name="base_to_wheel3" type="continuous"> <parent link="base_link"/> <axis xyz="0 0 1" /> <child link="wheel_3"/> <origin rpy="1.5707 0 1.5707" xyz="0.1 -0.15 0"/> </joint> <joint name="base_to_wheel4" type="continuous"> <parent link="base_link"/> <axis xyz="0 0 1" /> <child link="wheel_4"/> <origin rpy="1.5707 0 1.5707" xyz="-0.1 -0.15 0"/> </joint> <!-- arm --> <link name="arm_base"> <visual> <geometry> <box size="0.1 .1 .1"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0.1"/> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> <collision> <geometry> <box size="0.1 .1 .1"/> </geometry> </collision> <xacro:default_inertial mass="1"/> </link> <joint name="base_to_arm_base" type="continuous"> <parent link="base_link"/> <child link="arm_base"/> <axis xyz="0 0 1"/> <origin xyz="0 0 0"/> </joint> <link name="arm_1"> <visual> <geometry> <box size="0.05 .05 0.5"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0.25"/> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> <collision> <geometry> <box size="0.05 .05 0.5"/> </geometry> </collision> <xacro:default_inertial mass="1"/> </link> <joint name="arm_1_to_arm_base" type="revolute"> <parent link="arm_base"/> <child link="arm_1"/> <axis xyz="1 0 0"/> <origin xyz="0 0 0.15"/> <limit effort ="1000.0" lower="-1.0" upper="1.0" velocity="0.5"/> </joint> <link name="arm_2"> <visual> <geometry> <box size="0.05 0.05 0.5"/> </geometry> <origin rpy="0 0 0" xyz="0.06 0 0.15"/> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> <collision> <geometry> <box size="0.05 .05 0.5"/> </geometry> </collision> <xacro:default_inertial mass="1"/> </link> <joint name="arm_2_to_arm_1" type="revolute"> <parent link="arm_1"/> <child link="arm_2"/> <axis xyz="1 0 0"/> <origin xyz="0.0 0 0.45"/> <limit effort ="1000.0" lower="-2.5" upper="2.5" velocity="0.5"/> </joint> <joint name="left_gripper_joint" type="revolute"> <axis xyz="0 0 1"/> <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/> <origin rpy="0 -1.57 0" xyz="0.06 0 0.4"/> <parent link="arm_2"/> <child link="left_gripper"/> </joint> <link name="left_gripper"> <visual> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/> </geometry> </visual> <collision> <geometry> <box size="0.1 .1 .1"/> </geometry> </collision> <xacro:default_inertial mass="1"/> </link> <joint name="left_tip_joint" type="fixed"> <parent link="left_gripper"/> <child link="left_tip"/> </joint> <link name="left_tip"> <visual> <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/> <geometry> <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/> </geometry> </visual> <collision> <geometry> <box size="0.1 .1 .1"/> </geometry> </collision> <xacro:default_inertial mass="1"/> </link> <joint name="right_gripper_joint" type="revolute"> <axis xyz="0 0 -1"/> <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/> <origin rpy="0 -1.57 0" xyz="0.06 0 0.4"/> <parent link="arm_2"/> <child link="right_gripper"/> </joint> <link name="right_gripper"> <visual> <origin rpy="-3.1415 0 0" xyz="0 0 0"/> <geometry> <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/> </geometry> </visual> <collision> <geometry> <box size="0.1 .1 .1"/> </geometry> </collision> <xacro:default_inertial mass="1"/> </link> <joint name="right_tip_joint" type="fixed"> <parent link="right_gripper"/> <child link="right_tip"/> </joint> <link name="right_tip"> <visual> <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/> <geometry> <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/> </geometry> </visual> <collision> <geometry> <box size="0.1 .1 .1"/> </geometry> </collision> <xacro:default_inertial mass="1"/> </link> </robot>

 

转载于:https://www.cnblogs.com/sunskyland/p/5133458.html