test_model.urdf

<?xml version="1.0" encoding="utf-8"?>

<robot name="test_dyros_model">
  <material name="orange">
    <color rgba="1.0 0.5 0.2 1" />
  </material>
  <material name="gray">
    <color rgba="0.2 0.2 0.2 1" />
  </material>

  <!-- <link name="odom" />  -->
  <link name="base_link" /> 

  <link name="camera_init" />

  <link name="imu_link" />

  <joint name="imu_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="imu_link" />
    <origin xyz="0 0 0" rpy="3.14 0 0" />
  </joint>

  <joint name="velodyne_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="camera_init" />
    <origin xyz="0 0 2.2" rpy="0 0 0" />
  </joint>


</robot>