ellensohn/bot_mini_description
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Björn Ellensohn 2023-06-16 12:23:38 +02:00
parent f3af38417f
commit e067f8b3e5
2 changed files with 14 additions and 13 deletions
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1
package.xml
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@ -14,5 +14,6 @@
<export> <export>
<build_type>ament_python</build_type> <build_type>ament_python</build_type>
<gazebo_ros gazebo_model_path="${prefix}/.."/>
</export> </export>
</package> </package>

26
urdf/diffbot_description.urdf.xacro
View File

@ -31,14 +31,14 @@
<child link="${prefix}base_link" /> <child link="${prefix}base_link" />
</joint> --> </joint> -->
<!-- needed for replacement to find mesh dir: file://$(find bot_mini_description)/mesh/ --> <!-- needed for replacement to find mesh dir: package://bot_mini_description/mesh/ -->
<!-- Base Link --> <!-- Base Link -->
<link name="${prefix}base_link"> <link name="${prefix}base_link">
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/base_link_visual.stl"/> <mesh filename="package://bot_mini_description/mesh/base_link_visual.stl"/>
</geometry> </geometry>
<material name="base_link_material"> <material name="base_link_material">
<color rgba="0.80032179626883115375 0.81301836741632160788 0.83346199892499306383 1.0"/> <color rgba="0.80032179626883115375 0.81301836741632160788 0.83346199892499306383 1.0"/>
@ -47,7 +47,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/base_link_collision.stl"/> <mesh filename="package://bot_mini_description/mesh/base_link_collision.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
@ -83,7 +83,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_visual.stl"/> <mesh filename="package://bot_mini_description/mesh/wheel_link_visual.stl"/>
</geometry> </geometry>
<material name="wheel_link_material"> <material name="wheel_link_material">
<color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/> <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/>
@ -92,7 +92,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_collision.stl"/> <mesh filename="package://bot_mini_description/mesh/wheel_link_collision.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
@ -118,7 +118,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_2_visual.stl"/> <mesh filename="package://bot_mini_description/mesh/wheel_link_2_visual.stl"/>
</geometry> </geometry>
<material name="wheel_link_2_material"> <material name="wheel_link_2_material">
<color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/> <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/>
@ -127,7 +127,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_2_collision.stl"/> <mesh filename="package://bot_mini_description/mesh/wheel_link_2_collision.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
@ -152,7 +152,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/caster_link_visual.stl"/> <mesh filename="package://bot_mini_description/mesh/caster_link_visual.stl"/>
</geometry> </geometry>
<material name="caster_link_material"> <material name="caster_link_material">
<color rgba="0.69513764518117548974 0.69513764518117548974 0.69513764518117548974 1.0"/> <color rgba="0.69513764518117548974 0.69513764518117548974 0.69513764518117548974 1.0"/>
@ -161,7 +161,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/caster_link_collision.stl"/> <mesh filename="package://bot_mini_description/mesh/caster_link_collision.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
@ -176,7 +176,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/laser_link_visual.stl"/> <mesh filename="package://bot_mini_description/mesh/laser_link_visual.stl"/>
</geometry> </geometry>
<material name="laser_link_material"> <material name="laser_link_material">
<color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/> <color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/>
@ -185,7 +185,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/laser_link_collision.stl"/> <mesh filename="package://bot_mini_description/mesh/laser_link_collision.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
@ -210,7 +210,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/camera_link_visual.stl"/> <mesh filename="package://bot_mini_description/mesh/camera_link_visual.stl"/>
</geometry> </geometry>
<material name="camera_link_material"> <material name="camera_link_material">
<color rgba="0.26274509803921569651 0.28235294117647058432 0.30196078431372547213 1.0"/> <color rgba="0.26274509803921569651 0.28235294117647058432 0.30196078431372547213 1.0"/>
@ -219,7 +219,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/camera_link_collision.stl"/> <mesh filename="package://bot_mini_description/mesh/camera_link_collision.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>