smartcar_body.urdf.xacro

"1.0"?>

"http://www.ros.org/wiki/xacro" 
     xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
    name="robot1_xacro">


    "length_wheel" value="0.05" />
    "radius_wheel" value="0.05" />
    "default_inertial" params="mass">
               
                       "${mass}" />
                       "1.0" ixy="0.0" ixz="0.0"
                                iyy="1.0" iyz="0.0"
                                izz="1.0" />
               
    


    "base_link">
           
            
                      "0.2 .3 .1"/>
                 
            "0 0 1.54" xyz="0 0 0.05"/>
            "white">
                "1 1 1 1"/>
            
           
        
            
                       "0.2 .3 0.1"/>
            
        
        "10"/>
      "1.0"?>

"http://www.ros.org/wiki/xacro" 
     xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
    name="robot1_xacro">


    "length_wheel" value="0.05" />
    "radius_wheel" value="0.05" />
    "default_inertial" params="mass">
               
                       "${mass}" />
                       "1.0" ixy="0.0" ixz="0.0"
                                iyy="1.0" iyz="0.0"
                                izz="1.0" />
               
    


    "base_link">
           
            
                      "0.2 .3 .1"/>
                 
            "0 0 1.54" xyz="0 0 0.05"/>
            "white">
                "1 1 1 1"/>
            
           
        
            
                       "0.2 .3 0.1"/>
            

"wheel_1">   "${length_wheel}" radius="${radius_wheel}"/>   "0 0 0" xyz="0 0 0"/> "black"> "0 0 0 1"/>     "${length_wheel}" radius="${radius_wheel}"/>   "1"/>  "wheel_2">   "${length_wheel}" radius="${radius_wheel}"/>   "0 0 0" xyz="0 0 0"/> "black"/>    "${length_wheel}" radius="${radius_wheel}"/>   "1"/>  "wheel_3">   "${length_wheel}" radius="${radius_wheel}"/>   "0 0 0" xyz="0 0 0"/> "black"/>    "${length_wheel}" radius="${radius_wheel}"/>   "1"/>  "wheel_4">   "${length_wheel}" radius="${radius_wheel}"/>   "0 0 0" xyz="0 0 0" /> "black"/>    "${length_wheel}" radius="${radius_wheel}"/>   "1"/>  "base_to_wheel1" type="continuous"> "base_link"/> "wheel_1"/> "1.5707 0 1.5707" xyz="0.1 0.15 0"/> "0 0 1" />  "base_to_wheel2" type="continuous"> "0 0 1" /> "0 0 0" /> "100" velocity="100" /> "base_link"/> "wheel_2"/> "1.5707 0 1.5707" xyz="-0.1 0.15 0"/>  "base_to_wheel3" type="continuous"> "base_link"/> "0 0 1" /> "wheel_3"/> "1.5707 0 1.5707" xyz="0.1 -0.15 0"/>  "base_to_wheel4" type="continuous"> "base_link"/> "0 0 1" /> "wheel_4"/> "1.5707 0 1.5707" xyz="-0.1 -0.15 0"/>   "arm_base">   "0.1 .1 .1"/>  "0 0 0" xyz="0 0 0.1"/> "white"> "1 1 1 1"/>     "0.1 .1 .1"/>   "1"/>  "base_to_arm_base" type="continuous"> "base_link"/> "arm_base"/> "0 0 1"/> "0 0 0"/>  "arm_1">   "0.05 .05 0.5"/>  "0 0 0" xyz="0 0 0.25"/> "white"> "1 1 1 1"/>     "0.05 .05 0.5"/>   "1"/>  "arm_1_to_arm_base" type="revolute"> "arm_base"/> "arm_1"/> "1 0 0"/> "0 0 0.15"/> "1000.0" lower="-1.0" upper="1.0" velocity="0.5"/>  "arm_2">   "0.05 0.05 0.5"/>  "0 0 0" xyz="0.06 0 0.15"/> "white"> "1 1 1 1"/>     "0.05 .05 0.5"/>   "1"/>  "arm_2_to_arm_1" type="revolute"> "arm_1"/> "arm_2"/> "1 0 0"/> "0.0 0 0.45"/> "1000.0" lower="-2.5" upper="2.5" velocity="0.5"/>  "left_gripper_joint" type="revolute"> "0 0 1"/> "1000.0" lower="0.0" upper="0.548" velocity="0.5"/> "0 -1.57 0" xyz="0.06 0 0.4"/> "arm_2"/> "left_gripper"/>  "left_gripper">  "0 0 0" xyz="0 0 0"/>  "package://pr2_description/meshes/gripper_v0/l_finger.dae"/>     "0.1 .1 .1"/>   "1"/>  "left_tip_joint" type="fixed"> "left_gripper"/> "left_tip"/>  "left_tip">  "0.0 0 0" xyz="0.09137 0.00495 0"/>  "package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>     "0.1 .1 .1"/>   "1"/>  "right_gripper_joint" type="revolute"> "0 0 -1"/> "1000.0" lower="0.0" upper="0.548" velocity="0.5"/> "0 -1.57 0" xyz="0.06 0 0.4"/> "arm_2"/> "right_gripper"/>  "right_gripper">  "-3.1415 0 0" xyz="0 0 0"/>  "package://pr2_description/meshes/gripper_v0/l_finger.dae"/>     "0.1 .1 .1"/>   "1"/>  "right_tip_joint" type="fixed"> "right_gripper"/> "right_tip"/>  "right_tip">  "-3.1415 0 0" xyz="0.09137 0.00495 0"/>  "package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>     "0.1 .1 .1"/>   "1"/>  

 

转载于:https://www.cnblogs.com/sunskyland/p/5133458.html