ROS_GAZEBO建模移动小车-----urdf/xacro

github小项目，如有侵权，请联系删除。谢谢！！
一、建立一个mybot_description文件夹
二、建立urdf文件
1.macros.xacro

<?xml version="1.0"?>
<robot>
  <!--macro name="cylinder_inertia" params="m r h">
    <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}"
    />
  </macro>

  <macro name="box_inertia" params="m x y z">
    <inertia  ixx="${m*(y*y+z*z)/12}" ixy = "0" ixz = "0"
      iyy="${m*(x*x+z*z)/12}" iyz = "0"
      izz="${m*(x*x+z*z)/12}"
    />
  </macro>

  <macro name="sphere_inertia" params="m r">
    <inertia  ixx="${2*m*r*r/5}" ixy = "0" ixz = "0"
      iyy="${2*m*r*r/5}" iyz = "0"
      izz="${2*m*r*r/5}"
    />
  </macro>
  <macro name="wheel" params="lr tY">

    <link name="${lr}_wheel">
      <collision>
        <origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
        <geometry>
          <cylinder length="${wheelWidth}" radius="${wheelRadius}"/>
        </geometry>
      </collision>

      <visual>
        <origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
        <geometry>
          <cylinder length="${wheelWidth}" radius="${wheelRadius}"/>
        </geometry>
        <material name="black"/>
      </visual>

      <inertial>
        <origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
        <mass value="${wheelMass}"/>
        <cylinder_inertia m="${wheelMass}" r="${wheelRadius}" h="${wheelWidth}"/>
      </inertial>
    </link>

    <gazebo reference="${lr}_wheel">
      <mu1 value="1.0"/>
      <mu2 value="1.0"/>
      <kp  value="10000000.0" />
      <kd  value="1.0" />
      <fdir1 value="1 0 0"/>
      <material>Gazebo/Black</material>
    </gazebo>


    <joint name="${lr}_wheel_hinge" type="continuous">
      <parent link="chassis"/>
      <child link="${lr}_wheel"/>
    <origin xyz="${-wheelPos+chassisLength/2} ${tY*wheelWidth/2+tY*chassisWidth/2} ${wheelRadius}" rpy="0 0 0" />
      <axis xyz="0 1 0" rpy="0 0 0" />
      <limit effort="10000" velocity="10000"/>
      <joint_properties damping="0.0" friction="0.0"/>
    </joint>


    <transmission name="${lr}_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${lr}_wheel_hinge">
        <hardwareInterface>EffortJointInterface</hardwareInterface>
      </joint>
      <actuator name="${lr}Motor">
        <hardwareInterface>EffortJointInterface</hardwareInterface>
        <mechanicalReduction>10</mechanicalReduction>
      </actuator>
    </transmission>

  </macro-->
</robot>

2.materials.xacro

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

  <material