urdf file for udacity robot

udacity_bot.xacro

<?xml version="1.0"?>

<robot name="udacity_bot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <link name="robot_footprint"></link>

  <joint name="robot_footprint_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="robot_footprint" />
    <child link="chassis" />
  </joint>

  <link name="chassis">
    <pose>0 0 0.1 0 0 0</pose>

    <inertial>
      <mass value="15.0" />
      <origin xyz="0.0 0 0" rpy="0 0 0" />
      <inertia
        ixx="0.1" ixy="0" ixz="0"
        iyy="0.1" iyz="0"
        izz="0.1"
        />
    </inertial>

    <collision name="chassis_collision">
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size=".4 .2 .1" />
      </geometry>
    </collision>

    <visual name="chassis_visual">
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size=".4 .2 .1" />
      </geometry>
    </visual>

    <collision name="back_caster_collision">
      <origin xyz="-0.15 0 -0.05" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.05" />
      </geometry>
      <surface>
        <friction>
          <ode>
            <mu>0</mu>
            <mu2>0</mu2>
            <slip1>1.0</slip1>
            <slip2>1.0</slip2>
          </ode>
        </friction>
      </surface>
    </collision>

    <visual name="back_caster_visual">
      <origin xyz="-0.15 0 -0.05" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.05" />
      </geometry>
    </visual>

    <collision name="front_caster_collision">
      <origin xyz="0.15 0 -0.05" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.05" />
      </geometry>
      <surface>
        <friction>
          <ode>
            <mu>0</mu>
            <mu2>0</mu2>
            <slip1>1.0</slip1>
            <slip2>1.0</slip2>
          </ode>
        </friction>
      </surface>
    </collision>

    <visual name="front_caster_visual">
      <origin xyz="0.15 0 -0.05" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.05" />
      </geometry>
    </visual>

  </link>

<!--
  <joint type="continous" name="left_wheel_hinge">
    <origin xyz="0 0.15 0" rpy="0 0 0" />
    <child link="left_wheel" />
    <parent link="chassis" />
    <axis xyz="0 1 0" rpy="0 0 0" />
    <limit effor="10000" velocity="1000" />
    <joint_properties dampling="1.0" friction="1.0" />
  </joint> -->

  <!-- <link name="left_wheel">

    <inertial>
      <mass value="5.0" />
      <origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
      <inertia
        ixx="0.1" ixy="0" ixz="0"
        iyy="0.1" iyz="0"
        izz="0.1"
        />
    </inertial>

    <collision name="left_wheel_collision">
      <origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
      <geometry>
        <cylinder length="0.05" radius="0.1" />
      </geometry>
    </collision>

    <visual name="left_wheel_visual">
      <origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
      <geometry>
        <cylinder length="0.05" radius="0.1" />
      </geometry>
    </visual>

  </link> -->

  <!-- <link name="right_wheel">
    <inertial>
      <mass value="5.0" />
      <origin xyz="0.0 0 0" rpy="0 1.5707 1.5707" />
      <inertia
        ixx="0.1" ixy="0" ixz="0"
        iyy="0.1" iyz="0"
        izz="0.1"
        />
    </inertial>

    <collision name="collision">
      <origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
      <geometry>
        <cylinder radius="0.1" length="0.05"/>
      </geometry>
    </collision>

    <visual name="left_wheel_visual">
      <origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
      <geometry>
        <cylinder radius="0.1" length="0.05"/>
      </geometry>
    </visual>

  </link> -->

<!--
  <joint type="continous" name="right_wheel_hinge">
    <origin xyz="0 0.15 0" rpy="0 0 0" />
    <child link="right_wheel" />
    <parent link="chassis" />
    <axis xyz="0 1 0" rpy="0 0 0" />
    <limit effor="10000" velocity="1000" />
    <joint_properties dampling="1.0" friction="1.0" />
  </joint> -->
</robot>