mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-11-23 23:55:09 +00:00
42 lines
1.1 KiB
XML
Executable File
42 lines
1.1 KiB
XML
Executable File
<?xml version="1.0"?>
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
|
|
|
|
<joint name="face_joint" type="fixed">
|
|
<parent link="chassis"/>
|
|
<child link="face_link"/>
|
|
<origin xyz="${chassis_length/2} 0 ${chassis_height/2}" rpy="0 0 0"/>
|
|
</joint>
|
|
|
|
<link name="face_link">
|
|
<visual>
|
|
<origin xyz="0 0.05 0.01" rpy="0 ${pi/2} 0"/>
|
|
<geometry>
|
|
<cylinder radius="0.01" length="0.002"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
|
|
<visual>
|
|
<origin xyz="0 -0.05 0.01" rpy="0 ${pi/2} 0"/>
|
|
<geometry>
|
|
<cylinder radius="0.01" length="0.002"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
|
|
|
|
<visual>
|
|
<origin xyz="-0.011 0 -0.00" rpy="0 ${1.5} 0"/>
|
|
<geometry>
|
|
<cylinder radius="0.05" length="0.02"/>
|
|
</geometry>
|
|
<material name="red"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<gazebo reference="face_link">
|
|
<material>Gazebo/Black</material>
|
|
</gazebo>
|
|
|
|
|
|
</robot> |