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added camera_link and laser_link

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Björn Ellensohn 2023-06-01 10:30:59 +02:00
parent 8ed186bfe1
commit c60e3d07b7
2 changed files with 38 additions and 23 deletions
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38
urdf/diffbot_description.urdf.xacro
View File

@ -179,6 +179,44 @@
</inertial> </inertial>
</link> </link>
<!-- Laser Link -->
<link name="${prefix}laser_link">
<visual>
<origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
<geometry>
<!-- Define the geometry of the laser link, e.g., a cylinder -->
<cylinder length="0.05" radius="0.02"/>
</geometry>
</visual>
</link>
<!-- Joint between Base Link and Laser Link -->
<joint name="${prefix}laser_joint" type="fixed">
<parent link="${prefix}base_link"/>
<child link="${prefix}laser_link"/>
<origin xyz="0 ${base_length/2} ${z_offset}" rpy="0 0 0"/>
</joint>
<!-- Camera Link -->
<link name="${prefix}camera_link">
<visual>
<origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
<geometry>
<!-- Define the geometry of the camera link, e.g., a box -->
<box size="0.1 0.1 0.05"/>
</geometry>
</visual>
</link>
<!-- Joint between Base Link and Camera Link -->
<joint name="${prefix}camera_joint" type="fixed">
<parent link="${prefix}base_link"/>
<child link="${prefix}camera_link"/>
<origin xyz="0 ${base_length/2} ${z_offset + base_height}" rpy="0 0 0"/>
</joint>
</xacro:macro> </xacro:macro>
</robot> </robot>

23
urdf/odrive_rrbot.urdf.xacro
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@ -1,23 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
<xacro:arg name="prefix" default="" />
<xacro:include filename="$(find rrbot_description)/urdf/rrbot_description.urdf.xacro" />
<xacro:include filename="$(find rrbot_description)/gazebo/rrbot.materials.xacro" />
<xacro:include filename="$(find odrive_demo_description)/urdf/odrive.ros2_control.xacro" />
<link name="world"/>
<xacro:rrbot parent="world" prefix="$(arg prefix)">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:rrbot>
<xacro:odrive_ros2_control
name="ODriveRRBot"
joint0_name="$(arg prefix)joint1"
joint1_name="$(arg prefix)joint2" />
</robot>