ROS1学习笔记--xacro

        xacro文件是urdf文件的进阶版，可以通过宏定义，文件包含来精简模型文件。还可以通过定义常量、变量等来反复调用，相当有用哦～～

先贴代码：

<?xml version="1.0" ?>
<robot name="fourwheelrobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
 <!--Defineing namespace-->

  <!--property list -->
  <xacro:property name="M_PI" value="3.141592"/>
  <xacro:property name="base_mass"   value="20" /> 
  <xacro:property name="base_length" value="0.80"/>
  <xacro:property name="base_width" value="0.550"/>
  <xacro:property name="base_height" value="0.30"/>

  <xacro:property name="wheel_mass"   value="2" />
  <xacro:property name="wheel_radius" value="0.122"/>
  <xacro:property name="wheel_length" value="0.062"/>
  <xacro:property name="wheel_joint_x" value="0.25"/>
  <xacro:property name="wheel_joint_y" value="0.306"/>
  <xacro:property name="wheel_joint_z" value="-0.1"/> 

  <!--Defineing the colors-->
  <material name="black">
    <color rgba="0 0 0 1"/>
  </material>
  <material name="yellow">
    <color rgba="1 0.4 0 1"/>
  </material>

  <!-- Macro for inertia matrix -->
   <xacro:macro name="cylinder_inertial_matrix" params="m r h">
     <inertial>
        <mass value="${m}" />
        <inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
           iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
           izz="${m*r*r/2}" /> 
        </inertial>
    </xacro:macro>

    <xacro:macro name="box_inertial_matrix" params="m a b c">
       <inertial>
          <mass value="${m}" />
           <inertia ixx="${m*(b*b+c*c)/12}" ixy = "0" ixz = "0"
              iyy="${m*(c*c+a*a)/12}" iyz = "0"