mirror of
https://github.com/bjoernellens1/bot_mini_description.git
synced 2024-11-22 15:23:47 +00:00
240 lines
8.0 KiB
XML
240 lines
8.0 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="diffbot" params="prefix">
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<!-- Constants for robot dimensions -->
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<xacro:property name="PI" value="3.1415926535897931"/>
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<xacro:property name="base_mass" value="0.3" /> <!-- arbitrary value for base mass -->
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<xacro:property name="base_width" value="0.25" /> <!-- Updated wheel spacing to 25cm -->
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<xacro:property name="base_length" value="0.34" />
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<xacro:property name="base_height" value="0.1" />
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<xacro:property name="wheel_mass" value="0.3" /> <!-- arbitrary value for wheel mass -->
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<xacro:property name="wheel_len" value="0.020" />
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<xacro:property name="wheel_radius" value="0.0625" />
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<xacro:property name="caster_wheel_mass" value="0.1" /> <!-- arbitrary value for caster wheel mass -->
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<xacro:property name="caster_wheel_radius" value="0.04" />
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<xacro:property name="z_offset" value="-${base_height/2}" /> <!-- Space btw top of beam and the each joint -->
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<!-- dummy link - used for ros2 control so it stops complaining? -->
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<link name="${prefix}dummy">
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</link>
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<joint name="${prefix}dummy_joint" type="fixed">
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<parent link="${prefix}dummy"/>
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<child link="${prefix}base_link"/>
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</joint>
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<!-- Base Link -->
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<link name="${prefix}base_link">
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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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<box size="${base_length} ${base_width} ${base_height}"/> <!-- Updated base dimensions -->
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 ${base_height/2}" rpy="0 0 0"/>
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<geometry>
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<box size="${base_length} ${base_width} ${base_height}"/> <!-- Updated base dimensions -->
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</geometry>
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<material name="orange"/>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${base_mass}"/>
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<inertia
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ixx="${base_mass / 12.0 * (base_length*base_length + base_height*base_height)}" ixy="0.0" ixz="0.0"
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iyy="${base_mass / 12.0 * (base_height*base_height + base_width*base_width)}" iyz="0.0"
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izz="${base_mass / 12.0 * (base_width*base_width + base_length*base_length)}"/>
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</inertial>
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</link>
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<joint name="${prefix}left_wheel_joint" type="continuous">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}left_wheel"/>
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<origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
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<axis xyz="0 1 0"/>
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<dynamics damping="0.2"/>
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</joint>
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<!-- BASE_FOOTPRINT LINK (Used for SLAM: Should be oin the ground beneath the robo like the shadow) -->
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<joint name="${prefix}base_footprint_joint" type="fixed">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}base_footprint"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</joint>
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<link name="${prefix}base_footprint">
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</link>
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<!-- left wheel Link -->
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<link name="${prefix}left_wheel">
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<collision>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<geometry>
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<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<geometry>
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<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
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</geometry>
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<material name="black"/>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<mass value="${wheel_mass}"/>
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<inertia
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ixx="${wheel_mass / 12.0 * (3*wheel_radius + wheel_len*wheel_len)}" ixy="0.0" ixz="0.0"
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iyy="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" iyz="0.0"
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izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
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</inertial>
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</link>
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<joint name="${prefix}right_wheel_joint" type="continuous">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}right_wheel"/>
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<origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
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<axis xyz="0 -1 0"/>
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<dynamics damping="0.2"/>
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</joint>
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<!-- right wheel Link -->
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<link name="${prefix}right_wheel">
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<collision>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<geometry>
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<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<geometry>
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<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
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</geometry>
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<material name="black"/>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<mass value="${wheel_mass}"/>
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<inertia
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ixx="${wheel_mass / 12.0 * (3*wheel_radius + wheel_len*wheel_len)}" ixy="0.0" ixz="0.0"
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iyy="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" iyz="0.0"
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izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
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</inertial>
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</link>
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<joint name="${prefix}caster_wheel_joint" type="fixed">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}caster_wheel"/>
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<origin xyz="${-base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated caster wheel position -->
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</joint>
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<!-- caster wheel Link -->
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<link name="${prefix}caster_wheel">
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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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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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<material name="white"/>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${caster_wheel_mass}"/>
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<inertia
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ixx="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"
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ixy="0.0" ixz="0.0"
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iyy="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"
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iyz="0.0"
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izz="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"/>
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</inertial>
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</link>
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<!-- laser_link -->
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<link name="${prefix}laser_link">
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<collision>
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<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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<material name="green"/>
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</visual>
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<inertial>
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<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
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<mass value="0.1"/>
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<inertia
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ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.001"/>
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</inertial>
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</link>
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<!-- camera_link -->
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<link name="${prefix}camera_link">
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<collision>
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<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<inertial>
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<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
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<mass value="0.1"/>
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<inertia
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ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.001"/>
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</inertial>
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</link>
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<!-- Base Joint -->
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<joint name="${prefix}base_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 0 ${base_height}" rpy="0 0 0"/>
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</joint>
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<!-- Front Joint -->
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<joint name="${prefix}front_joint" type="fixed">
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<parent link="${prefix}laser_link"/>
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<child link="${prefix}camera_link"/>
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<origin xyz="${base_length/2} 0 ${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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