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mkz_final.urdf.xacro
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<?xml version="1.0"?>
<!-- created with Phobos 0.7 -->
<robot name="dbw_mkz" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="dae_file" default="$(find dbw_mkz_description)/meshes/mkz_13/body.dae"/>
<link name="base_footprint">
</link>
<link name="base_link">
<inertial>
<origin xyz="1.4225 0 0.25" rpy="0 0 0"/>
<mass value="1500.0"/>
<inertia ixx="1000.0" ixy="0" ixz="0" iyy="1000.0" iyz="0" izz="1000.0"/>
</inertial>
<visual name="chassis">
<origin xyz="1.3641 0 -0.33" rpy="0 0 1.570796"/>
<geometry>
<mesh filename="file://$(arg dae_file)" scale="0.38 0.394 0.394"/>
</geometry>
<material name="black.001"/>
</visual>
<collision name="chassis_collision">
<origin xyz="1.51 -0.03046 0.350609" rpy="1.570796 0 -3.141593"/>
<geometry>
<mesh filename="package://dbw_mkz_description/meshes/body_collision.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="os_sensor"> </link>
<joint name="os_sensor_joint" type="fixed">
<parent link="base_footprint" />
<child link="os_sensor" />
<origin xyz="0.9652 0 2.16" rpy="-0.004159 -0.00262 0" />
</joint>
<link name="os_imu"> </link>
<joint name="os_imu_joint" type="fixed">
<parent link="os_sensor" />
<child link="os_imu" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<link name="velodyne_front"> </link>
<joint name="velodyne_front_joint" type="fixed">
<parent link="os_sensor" />
<child link="velodyne_front" />
<origin xyz="0.92152 -0.00830477 -0.166818" rpy="0.0094 0.6352 -0.0275" />
</joint>
<link name="velodyne_right"> </link>
<joint name="velodyne_right_joint" type="fixed">
<parent link="os_sensor" />
<child link="velodyne_right" />
<origin xyz="-0.0606121 -0.437449 -0.550837" rpy="-0.0156 0.3449 -1.6351" />
</joint>
<link name="velodyne_left"> </link>
<joint name="velodyne_left_joint" type="fixed">
<parent link="os_sensor" />
<child link="velodyne_left" />
<origin xyz="-0.068965 0.485312 -0.542697" rpy="-0.0158 0.2061 1.4732" />
</joint>
<link name="imu_link_o"> </link>
<joint name="imu_link_o_joint" type="fixed">
<parent link="os_sensor" />
<child link="imu_link_o" />
<origin xyz="-0.643673 0.610458 -1.544120" rpy="0.0726 -0.1927 -1.6599" />
</joint>
<link name="imu_link_v"> </link>
<joint name="imu_link_v_joint" type="fixed">
<parent link="velodyne_front" />
<child link="imu_link_v" />
<origin xyz="-0.643673 0.610458 -1.244120" rpy=" -0.0164578 -0.64105 0.0397269" />
</joint>
<link name="steer_fl">
<inertial>
<origin xyz="-0.013054 -0.0295 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.037227" ixy="0" ixz="0" iyy="0.04" iyz="0" izz="0.06"/>
</inertial>
</link>
<link name="steer_fr">
<inertial>
<origin xyz="-0.01305 0.0275 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.037227" ixy="0" ixz="0" iyy="0.04" iyz="0" izz="0.06"/>
</inertial>
</link>
<link name="wheel_fl">
<inertial>
<origin xyz="0 0 0" rpy="0 -3.141593 0"/>
<mass value="10.0"/>
<inertia ixx="0.305583" ixy="0" ixz="0" iyy="0.305583" iyz="0" izz="0.5445"/>
</inertial>
<visual name="wheel_fl_visual">
<origin xyz="0 0 0.0385" rpy="-1.570796 -1.570796 0"/>
<geometry>
<mesh filename="package://dbw_mkz_description/meshes/mkz_13/wheel.dae" scale="0.01 0.01 0.01"/>
</geometry>
<material name="carpaint_002"/>
</visual>
<collision name="wheel_fl_collision">
<origin xyz="0 0 0" rpy="0 -3.141593 0"/>
<geometry>
<cylinder radius="0.33" length="0.2"/>
</geometry>
</collision>
</link>
<link name="wheel_fr">
<inertial>
<origin xyz="0 0 0" rpy="0 3.141593 0"/>
<mass value="10.0"/>
<inertia ixx="0.305583" ixy="0" ixz="0" iyy="0.305583" iyz="0" izz="0.5445"/>
</inertial>
<visual name="wheel_fr_visual">
<origin xyz="0 0 -0.043777" rpy="-1.570796 1.570796 0"/>
<geometry>
<mesh filename="package://dbw_mkz_description/meshes/mkz_13/wheel.dae" scale="0.01 0.01 0.01"/>
</geometry>
<material name="carpaint_002.001"/>
</visual>
<collision name="wheel_fr_collision">
<origin xyz="0 0 -0.0035" rpy="0 3.141593 0"/>
<geometry>
<cylinder radius="0.33" length="0.2"/>
</geometry>
</collision>
</link>
<link name="wheel_rl">
<inertial>
<origin xyz="0 0 0" rpy="0 3.141593 0"/>
<mass value="10.0"/>
<inertia ixx="0.305583" ixy="0" ixz="0" iyy="0.305583" iyz="0" izz="0.5445"/>
</inertial>
<visual name="wheel_rl_visual">
<origin xyz="0 0 0.017382" rpy="-1.570796 -1.570796 0"/>
<geometry>
<mesh filename="package://dbw_mkz_description/meshes/mkz_13/wheel.dae" scale="0.01 0.01 0.01"/>
</geometry>
<material name="carpaint_002.003"/>
</visual>
<collision name="wheel_rl_collision">
<origin xyz="0 0 -0.021118" rpy="0 3.141593 0"/>
<geometry>
<cylinder radius="0.33" length="0.2"/>
</geometry>
</collision>
</link>
<link name="wheel_rr">
<inertial>
<origin xyz="0 0 0" rpy="0 3.141593 0"/>
<mass value="10.0"/>
<inertia ixx="0.305583" ixy="0" ixz="0" iyy="0.305583" iyz="0" izz="0.5445"/>
</inertial>
<visual name="wheel_rr_visual">
<origin xyz="0 0 -0.019214" rpy="-1.570796 1.570796 0"/>
<geometry>
<mesh filename="package://dbw_mkz_description/meshes/mkz_13/wheel.dae" scale="0.01 0.01 0.01"/>
</geometry>
<material name="carpaint_002.002"/>
</visual>
<collision name="wheel_rr_collision">
<origin xyz="0 0 0.0205" rpy="0 3.141593 0"/>
<geometry>
<cylinder radius="0.33" length="0.2"/>
</geometry>
</collision>
</link>
<joint name="base_link_joint" type="fixed">
<origin xyz="0 0 0.33" rpy="0 0 0"/>
<parent link="base_footprint"/>
<child link="base_link"/>
</joint>
<joint name="steer_fl_joint" type="revolute">
<origin xyz="2.85 0.79121 0.0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="steer_fl"/>
<axis xyz="0 0 1.0"/>
<limit lower="-0.6" upper="0.6" effort="0" velocity="0"/>
</joint>
<joint name="steer_fr_joint" type="revolute">
<origin xyz="2.85 -0.79121 0.0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="steer_fr"/>
<axis xyz="0 0 1.0"/>
<limit lower="-0.6" upper="0.6" effort="0" velocity="0"/>
</joint>
<joint name="wheel_fl_joint" type="continuous">
<origin xyz="0 0 0" rpy="1.570796 0 -3.141593"/>
<parent link="steer_fl"/>
<child link="wheel_fl"/>
<axis xyz="0 0 1.0"/>
<limit effort="0" velocity="22.0"/>
</joint>
<joint name="wheel_fr_joint" type="continuous">
<origin xyz="0 0 0" rpy="1.570796 0 -3.141593"/>
<parent link="steer_fr"/>
<child link="wheel_fr"/>
<axis xyz="0 0 1.0"/>
<limit effort="0" velocity="22.0"/>
</joint>
<joint name="wheel_rl_joint" type="continuous">
<origin xyz="0 0.7874 0" rpy="1.570796 0 -3.141593"/>
<parent link="base_link"/>
<child link="wheel_rl"/>
<axis xyz="0 0 1.0"/>
<limit effort="5000.0" velocity="22.0"/>
</joint>
<joint name="wheel_rr_joint" type="continuous">
<origin xyz="0 -0.7874 0" rpy="1.570796 0 -3.141593"/>
<parent link="base_link"/>
<child link="wheel_rr"/>
<axis xyz="0 0 1.0"/>
<limit effort="5000.0" velocity="22.0"/>
</joint>
<material name="black.001">
<color rgba="0 0 0 1.0"/>
</material>
<material name="carpaint_002">
<color rgba="0.941177 0.941177 0.941177 1.0"/>
</material>
<material name="carpaint_002.001">
<color rgba="0.941177 0.941177 0.941177 1.0"/>
</material>
<material name="carpaint_002.002">
<color rgba="0.941177 0.941177 0.941177 1.0"/>
</material>
<material name="carpaint_002.003">
<color rgba="0.941177 0.941177 0.941177 1.0"/>
</material>
</robot>