mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 03:15:01 +08:00
49 lines
1.3 KiB
XML
49 lines
1.3 KiB
XML
<?xml version="1.0"?>
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<robot name="scout_v2"
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xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:include filename="$(find scout_base)/description/scout_v2.xacro" />
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<!-- For testing, hang the robot up in the air -->
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<!-- <link name="world" />
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<joint name="world_to_base_link=" type="fixed">
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<origin xyz="0 0 0.5" rpy="0 0 0" />
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<parent link="world"/>
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<child link="base_link"/>
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</joint> -->
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<link name="imu_link">
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<visual>
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<origin xyz="0.0 0.0 0.0" />
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<geometry>
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<cylinder length="0.03" radius="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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<joint name="imu_joint" type="fixed">
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<parent link="base_link" />
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<child link="imu_link" />
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<origin xyz="0.32 0.0 0.18" rpy="0 0 0" />
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</joint>
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<link name="laser">
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<visual>
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<origin xyz="0.0 0.0 0.0" />
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<geometry>
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<cylinder length="0.03" radius="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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<joint name="base_laser_joint" type="fixed">
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<parent link="base_link" />
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<child link="laser" />
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<origin xyz="0.0 0.0 0.65" rpy="0 0 0" />
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</joint>
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</robot>
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