Statistics
| Branch: | Revision:

robobuggy / buggygazebo / robobuggy_description / urdf / robobuggy.urdf @ 0e182761

History | View | Annotate | Download (1.61 KB)

1
<?xml version="1.0"?>
2
<robot name="robobuggy">
3

    
4
   <!-- Main Body -->
5
   <link name='base_link'>
6
      <collision name='collision'>
7
        <origin xyz="0 0 .1" rpy="0 0 0"/>
8
        <geometry>
9
          <box  size=".4 .2 .1"/>
10
        </geometry>
11
      </collision>
12

    
13
      <visual name='visual'>
14
        <origin xyz="0 0 .1 " rpy="0 0 0"/>
15
        <geometry>
16
          <box  size=".4 .2 .1"/>
17
        </geometry>
18
      </visual>
19

    
20
     <inertial>
21
        <mass value="1e-5" />
22
        <origin xyz="0 0 .1 " rpy="0 0 0"/>
23
        <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
24
     </inertial>
25
  </link> 
26

    
27

    
28
  <!-- Left Wheel -->
29
  <link name="left_wheel">
30
    <collision name="collision">
31
      <origin xyz="0.2 0.13 0.1" rpy="0 1.5707 1.5707"/>
32
      <geometry>
33
         <cylinder  length="0.05" radius="0.1"/>
34
      </geometry>
35
    </collision>
36
    <visual name="visual">
37
      <origin xyz="0.2 0.13 0.1" rpy="0 1.5707 1.5707"/>
38
      <geometry>
39
        <cylinder  length="0.05" radius="0.1"/>
40
      </geometry>
41
    </visual>
42
    <inertial>
43
      <mass value="1e-5" />
44
      <origin xyz="0.2 0.13 0.1"/>
45
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
46
    </inertial>
47
  </link>
48

    
49

    
50
  <joint type="revolute" name="joint1">
51
    <!-- origin taken from generated pose for joint , form the file that was created by gzsdf print -->
52
    <origin xyz="0.2 0.13 0.1" rpy="-1.56451e-13 1.5707 1.5707"/>
53
    <child link="left_wheel">left_wheel</child>
54
    <parent link="base_link">base_link</parent>
55
    <axis xyz="0 1 0"/>
56
    <limit effort="30" velocity="1.0"  lower="-100" upper="100" />
57
  </joint>
58
</robot>