robot.urdf.xacro

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

<robot name="robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
    <link name="base_footprint"></link>

    <link name="body">
        <visual>
            <geometry>
                <box size="1 0.8 0.2" />
            </geometry>
            <material name="green">
                <color rgba="0 255 0 1" />
            </material>
            <origin xyz="0 0 0" rpy="0 0 0" />
        </visual>
    </link>

    <joint name="body_joint" type="fixed">
        <parent link="base_footprint" />
        <child link="body" />
        <origin xyz="0 0 0.3" rpy="0 0 0" />
    </joint>

    <xacro:macro name="wheel" params="id">
        <link name="wheel_${id}">
            <visual>
                <geometry>
                    <cylinder radius="0.1" length="0.2" />
                </geometry>
                <material name="blue">
                    <color rgba="0 0 255 1" />
                </material>
                <origin xyz="0 0 0" rpy="0.0 0.0 0.0" />
            </visual>
            <collision>
                <geometry>
                    <cylinder radius="0.1" length="0.2" />
                </geometry>
                <origin xyz="0 0 0" rpy="0.0 0.0 0.0" />
            </collision>
        </link>
    </xacro:macro>

    <!-- FL: Front-Left...  -->
    <xacro:wheel id="FL" />
    <xacro:wheel id="FR" />
    <xacro:wheel id="BL" />
    <xacro:wheel id="BR" />

    <xacro:macro name="wheel_joint" params="id x y">
        <joint name="wheel_joint_${id}" type="continuous">
            <parent link="body" />
            <child link="wheel_${id}" />
            <origin xyz="${x} ${y} -0.2" rpy="1.57079 0 0" />
            <axis xyz="0 1 0" />
        </joint>
    </xacro:macro>

    <xacro:wheel_joint id="FL" x="-0.3" y="0.3" />
    <xacro:wheel_joint id="FR" x="0.3" y="0.3" />
    <xacro:wheel_joint id="BL" x="-0.3" y="-0.3" />
    <xacro:wheel_joint id="BR" x="0.3" y="-0.3" />

    <link name="laser_base">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <cylinder radius="0.05" length="0.4" />
            </geometry>
            <material name="yellow">
                <color rgba="255 255 0 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <cylinder radius="0.05" length="0.4" />
            </geometry>
        </collision>
    </link>

    <joint name="laser_base_joint" type="fixed">
        <parent link="body" />
        <child link="laser_base" />
        <origin xyz="0 0 0.3" rpy="0 0 0" />
        <axis xyz="0 0 1" />
    </joint>

    <link name="laser">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <box size="0.2 0.2 0.2" />
            </geometry>
            <material name="red">
                <color rgba="255 0 0 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <box size="0.05 0.05 0.05" />
            </geometry>
        </collision>
    </link>

    <joint name="laser_laser_base_joint" type="fixed">
        <parent link="laser_base" />
        <child link="laser" />
        <origin xyz="0 0 0.3" rpy="0 0 0" />
        <axis xyz="0 0 1" />
    </joint>

    <link name="deep_camera">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <box size="0.2 0.4 0.2" />
            </geometry>
            <material name="purple">
                <color rgba="128 0 128 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <box size="0.1 0.1 0.1" />
            </geometry>
        </collision>
    </link>

    <joint name="deep_camera_joint" type="fixed">
        <parent link="body" />
        <child link="deep_camera" />
        <origin xyz="0.4 0 0.2" rpy="0 0 0" />
    </joint>
</robot>