58 lines
2.4 KiB
XML
58 lines
2.4 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robot">
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<xacro:arg name="robot_type" default="a1"/>
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<xacro:include filename="$(find quadruped_gazebo)/urdf/$(arg robot_type)/const.xacro"/>
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<xacro:include filename="$(find quadruped_gazebo)/urdf/common/materials.xacro"/>
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<xacro:include filename="$(find quadruped_gazebo)/urdf/common/leg.xacro"/>
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<xacro:include filename="$(find quadruped_gazebo)/urdf/common/imu.xacro"/>
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<xacro:include filename="$(find quadruped_gazebo)/urdf/common/ros2_control.xacro"/>
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<xacro:property name="mesh_path" value="file://$(find quadruped_gazebo)/meshes/$(arg robot_type)"/>
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<link name="base">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="${mesh_path}/trunk.dae" scale="1 1 1"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
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<mass value="${trunk_mass}"/>
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<inertia
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ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
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iyy="${trunk_iyy}" iyz="${trunk_iyz}"
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izz="${trunk_izz}"/>
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</inertial>
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</link>
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<xacro:IMU connected_to="base" imu_name="base_imu" xyz="0. 0. 0." rpy="0. 0. 0."/>
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<xacro:leg prefix="LF" mesh_path="${mesh_path}" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
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<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
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</xacro:leg>
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<xacro:leg prefix="LH" mesh_path="${mesh_path}" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
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<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
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</xacro:leg>
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<xacro:leg prefix="RF" mesh_path="${mesh_path}" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
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<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
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</xacro:leg>
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<xacro:leg prefix="RH" mesh_path="${mesh_path}" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
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<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
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</xacro:leg>
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</robot>
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