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