mirror of
https://github.com/bjoernellens1/bot_mini_description.git
synced 2024-11-21 23:03:47 +00:00
added camera_link and laser_link
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@ -179,6 +179,44 @@
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</inertial>
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</link>
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<!-- Laser Link -->
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<link name="${prefix}laser_link">
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<visual>
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<origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
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<geometry>
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<!-- Define the geometry of the laser link, e.g., a cylinder -->
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<cylinder length="0.05" radius="0.02"/>
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</geometry>
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</visual>
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</link>
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<!-- Joint between Base Link and Laser Link -->
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<joint name="${prefix}laser_joint" type="fixed">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}laser_link"/>
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<origin xyz="0 ${base_length/2} ${z_offset}" rpy="0 0 0"/>
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</joint>
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<!-- Camera Link -->
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<link name="${prefix}camera_link">
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<visual>
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<origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
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<geometry>
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<!-- Define the geometry of the camera link, e.g., a box -->
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<box size="0.1 0.1 0.05"/>
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</geometry>
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</visual>
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</link>
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<!-- Joint between Base Link and Camera Link -->
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<joint name="${prefix}camera_joint" type="fixed">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}camera_link"/>
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<origin xyz="0 ${base_length/2} ${z_offset + base_height}" rpy="0 0 0"/>
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</joint>
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</xacro:macro>
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</robot>
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@ -1,23 +0,0 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
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<xacro:arg name="prefix" default="" />
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<xacro:include filename="$(find rrbot_description)/urdf/rrbot_description.urdf.xacro" />
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<xacro:include filename="$(find rrbot_description)/gazebo/rrbot.materials.xacro" />
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<xacro:include filename="$(find odrive_demo_description)/urdf/odrive.ros2_control.xacro" />
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<link name="world"/>
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<xacro:rrbot parent="world" prefix="$(arg prefix)">
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<origin xyz="0 0 0" rpy="0 0 0" />
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</xacro:rrbot>
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<xacro:odrive_ros2_control
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name="ODriveRRBot"
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joint0_name="$(arg prefix)joint1"
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joint1_name="$(arg prefix)joint2" />
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</robot>
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