onebot.urdf.xacro

onebot.urdf.xacro

<?xml version="1.0"?>
<robot  xmlns:xacro="http://ros.org/wiki/xacro"
        name="onebot" >

    <xacro:include filename="$(find onebot_description)/urdf/caster.urdf.xacro" />
    <xacro:include filename="$(find onebot_description)/urdf/wheel.urdf.xacro" />
   
    <xacro:arg name="mesh_enabled" default="true" />
    <xacro:arg name="robot_namespace" default="/"/> 
        
    <link   name = "base_link">
        <inertial>
            <origin xyz="-0.108 0 -0.02579" rpy="0 0 0"/>
            <mass value="3.978"/>
            <inertia ixx="0.021858680" ixy="0.0" ixz="0.010020353"
                    iyy="0.078572349" iyz="-0.0"
                    izz="0.091971324"/>
        </inertial>
        <visual>
            <xacro:if value="$(arg mesh_enabled)">
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <mesh filename="package://onebot_description/meshes/base_link.dae" />
                </geometry>
            </xacro:if>
            <xacro:unless value="$(arg mesh_enabled)">
                <origin xyz="-0.125 0 -0.01" rpy="0 0 0" />
                <geometry>
                    <box size="0.25 0.25 0.02" />
                </geometry>
                <material name="Blue" />    
            </xacro:unless>
        </visual>
        <collision>
            <origin xyz="-0.125 0 -0.01" rpy="0 0 0" />
            <geometry>
                <box size="0.25 0.25 0.02" />
            </geometry>
        </collision>
    </link>

    <link   name =  "base_footprint"/>
        
    <joint name = "base_joint"  type = "fixed">
        <parent link="base_footprint"/>
        <child link="base_link"/>
        <origin xyz="0.0 0.0 0.09188" rpy="0 0 0" />
        <axis xyz="0 1 0" rpy="0 0 0" />
    </joint>

    <xacro:caster caster_prefix="rear" parent_link="base_link" >
        <origin xyz="-0.20 0.0 -0.02533" rpy="0 0 0" />
    </xacro:caster>

    <xacro:wheel wheel_prefix="left" parent_link="base_link" >
        <origin xyz="-0.04 0.14 -0.045" rpy="0 0 0" />
    </xacro:wheel>

    <xacro:wheel wheel_prefix="right" parent_link="base_link" >
        <origin xyz="-0.04 -0.14 -0.045" rpy="0 0 0" />
    </xacro:wheel>

    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
        <robotNamespace>$(arg robot_namespace)</robotNamespace>
        <legacyModeNS>true</legacyModeNS>
        </plugin>
    </gazebo>

</robot>

In line 62, gazebo ros control plugin is attached. This enables the usage of ROS controllers with the URDF model.