294 lines
8.1 KiB
XML
294 lines
8.1 KiB
XML
<?xml version="1.0" ?>
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<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
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<!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>
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<xacro:property name="r200_cam_rgb_px" value="0.005"/>
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<xacro:property name="r200_cam_rgb_py" value="0.018"/>
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<xacro:property name="r200_cam_rgb_pz" value="0.013"/>
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<xacro:property name="r200_cam_depth_offset" value="0.01"/> -->
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<!-- Init colour -->
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<material name="black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="dark">
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<color rgba="0.3 0.3 0.3 1.0"/>
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</material>
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<material name="light_black">
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<color rgba="0.4 0.4 0.4 1.0"/>
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</material>
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<material name="blue">
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<color rgba="0.0 0.0 0.8 1.0"/>
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</material>
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<material name="green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="grey">
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<color rgba="0.5 0.5 0.5 1.0"/>
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</material>
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<material name="orange">
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<color rgba="1.0 0.4235 0.0392 1.0"/>
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</material>
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<material name="brown">
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<color rgba="0.8706 0.8118 0.7647 1.0"/>
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</material>
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<material name="red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material>
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<material name="white">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<link name="base_footprint"/>
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<joint name="base_joint" type="fixed">
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<parent link="base_footprint"/>
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<child link="base_link" />
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<origin xyz="0 0 0.010" rpy="0 0 0"/>
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</joint>
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<link name="base_link">
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<visual>
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<origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="light_black"/>
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</visual>
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<collision>
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<origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
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<geometry>
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<box size="0.266 0.266 0.094"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1.3729096e+00"/>
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<inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
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iyy="8.6195418e-03" iyz="-3.5422299e-06"
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izz="1.4612727e-02" />
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</inertial>
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</link>
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<joint name="wheel_left_joint" type="continuous">
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<parent link="base_link"/>
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<child link="wheel_left_link"/>
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<origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="wheel_left_link">
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<visual>
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<origin xyz="0 0 0" rpy="1.57 0 0"/>
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<geometry>
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<mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="dark"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.018" radius="0.033"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0" />
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<mass value="2.8498940e-02" />
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<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
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iyy="1.1192413e-05" iyz="-1.4400107e-11"
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izz="2.0712558e-05" />
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</inertial>
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</link>
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<joint name="wheel_right_joint" type="continuous">
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<parent link="base_link"/>
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<child link="wheel_right_link"/>
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<origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="wheel_right_link">
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<visual>
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<origin xyz="0 0 0" rpy="1.57 0 0"/>
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<geometry>
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<mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="dark"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.018" radius="0.033"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0" />
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<mass value="2.8498940e-02" />
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<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
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iyy="1.1192413e-05" iyz="-1.4400107e-11"
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izz="2.0712558e-05" />
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</inertial>
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</link>
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<joint name="caster_back_right_joint" type="fixed">
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<parent link="base_link"/>
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<child link="caster_back_right_link"/>
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<origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
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</joint>
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<link name="caster_back_right_link">
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<collision>
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<origin xyz="0 0.001 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.030 0.009 0.020"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0" />
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<mass value="0.005" />
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<inertia ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.001" />
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</inertial>
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</link>
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<joint name="caster_back_left_joint" type="fixed">
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<parent link="base_link"/>
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<child link="caster_back_left_link"/>
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<origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
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</joint>
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<link name="caster_back_left_link">
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<collision>
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<origin xyz="0 0.001 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.030 0.009 0.020"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0" />
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<mass value="0.005" />
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<inertia ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.001" />
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</inertial>
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</link>
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<joint name="imu_joint" type="fixed">
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<parent link="base_link"/>
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<child link="imu_link"/>
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<origin xyz="0.0 0 0.068" rpy="0 0 0"/>
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</joint>
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<link name="imu_link"/>
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<joint name="scan_joint" type="fixed">
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<parent link="base_link"/>
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<child link="base_scan"/>
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<origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
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</joint>
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<link name="base_scan">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="dark"/>
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</visual>
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<collision>
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<origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.0315" radius="0.055"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.114" />
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<origin xyz="0 0 0" />
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<inertia ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.001" />
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</inertial>
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</link>
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<joint name="camera_joint" type="fixed">
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<origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="camera_link"/>
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</joint>
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<link name="camera_link">
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<visual>
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<origin xyz="0 0 0" rpy="1.57 0 1.57"/>
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<geometry>
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<mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae" />
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
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<geometry>
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<box size="0.012 0.132 0.020"/>
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</geometry>
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</collision>
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<!-- This inertial field needs doesn't contain reliable data!! -->
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<!-- <inertial>
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<mass value="0.564" />
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<origin xyz="0 0 0" />
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<inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
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iyy="0.000498940" iyz="0.0"
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izz="0.003879257" />
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</inertial>-->
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</link>
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<joint name="camera_rgb_joint" type="fixed">
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<origin xyz="0.005 0.018 0.013" rpy="0 0 0"/>
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<!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
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<parent link="camera_link"/>
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<child link="camera_rgb_frame"/>
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</joint>
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<link name="camera_rgb_frame"/>
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<joint name="camera_rgb_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
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<parent link="camera_rgb_frame"/>
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<child link="camera_rgb_optical_frame"/>
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</joint>
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<link name="camera_rgb_optical_frame"/>
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<joint name="camera_depth_joint" type="fixed">
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<origin xyz="0.005 0.028 0.013" rpy="-1.57 0 -1.57"/>
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<!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
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<parent link="camera_link"/>
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<child link="camera_depth_frame"/>
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</joint>
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<link name="camera_depth_frame"/>
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<joint name="camera_depth_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="camera_depth_frame"/>
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<child link="camera_depth_optical_frame"/>
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</joint>
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<link name="camera_depth_optical_frame"/>
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</robot>
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