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ROS Ag Lawn Tractor URDF file
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<?xml version="1.0"?> | |
<robot name="lawn_tractor" xmlns:xacro='http://www.ros.org/wiki/xacro'> | |
<!-- TODO: collision link element to be added --> | |
<!-- TODO: inertial link element to be added --> | |
<!-- define base link, center of rear axle for an ackermann vehicle --> | |
<link name="base_link"> | |
<visual> | |
<origin xyz='0.55 0 0' rpy='0 0 ${pi}' /> | |
<geometry> | |
<mesh filename="package://lawn_tractor_sim/meshes/lawn_tractor.dae" scale='1 1 1'/> | |
</geometry> | |
</visual> | |
</link> | |
<!-- define base footprint (virtual link) --> | |
<link name="base_footprint" /> | |
<!-- define gps link --> | |
<link name="gps"> | |
<visual> | |
<origin xyz='0 0 0' rpy='0 0 0' /> | |
<geometry> | |
<sphere radius='0.05' /> | |
</geometry> | |
<material name='red'> | |
<color rgba='1 0 0 0.5' /> | |
</material> | |
</visual> | |
</link> | |
<!-- define camera link | |
<link name="camera"> | |
<visual> | |
<origin xyz='0 0 0' rpy='0 0 0' /> | |
<geometry> | |
<sphere radius='0.05' /> | |
</geometry> | |
<material name='red'> | |
<color rgba='1 0 0 0.5' /> | |
</material> | |
</visual> | |
</link> --> | |
<!-- define ultrasonic sensor link | |
<link name="base_laser_link"> | |
<visual> | |
<origin xyz='0 0 0' rpy='0 0 0' /> | |
<geometry> | |
<sphere radius='0.05' /> | |
</geometry> | |
<material name='red'> | |
<color rgba='1 0 0 0.5' /> | |
</material> | |
</visual> | |
</link> --> | |
<!-- xacro macro definition --> | |
<!-- default inertia --> | |
<xacro:macro name='default_inertia' params='mass x:=0 y:=0 z:=0'> | |
<inertial> | |
<origin xyz='${x} ${y} ${z}' /> | |
<mass value='${mass}' /> | |
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" /> | |
</inertial> | |
</xacro:macro> | |
<!-- define base footprint joint --> | |
<joint name="base_footprint_joint" type="fixed"> | |
<parent link="base_footprint"/> | |
<child link="base_link"/> | |
<origin xyz="0 0 0.25" rpy="0 0 0" /> | |
</joint> | |
<!-- define gps joint --> | |
<joint name="gps_joint" type="fixed"> | |
<parent link="base_link"/> | |
<child link="gps"/> | |
<origin xyz="0.46 0 0.61" rpy="0 0 0" /> | |
</joint> | |
<!-- define camera joint | |
<joint name="camera_joint" type="fixed"> | |
<parent link="base_link"/> | |
<child link="camera"/> | |
<origin xyz="1.5 0 0.5" rpy="${-pi/2} 0 ${-pi/2}" /> | |
</joint> --> | |
<!-- define ultrasonic sensor joint --> | |
<!--joint name="range_joint" type="fixed"> | |
<parent link="base_link"/> | |
<child link="base_laser_link"/> | |
<origin xyz="1.5 0 0.75" rpy="0 0 0" /> | |
</joint> --> | |
</robot> |
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