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zhangss-0817zhangss-0817
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‎robot.urdf

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<?xml version="1.0"?>
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<robot name="robot">
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<link name="base_footprint"/>
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<link name="base_link">
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<visual name="">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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<geometry>
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<box size="0.8 0.7 0.1" />
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</geometry>
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<material name="">
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<color rgba="1.0 0.0 0.0 1.0"/>
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</material>
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</visual>
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</link>
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<joint name="base_joint" type="fixed">
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<origin xyz="0.0 0.0 0.135" rpy="0.0 0.0 0.0"/>
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<parent link="base_footprint"/>
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<child link="base_link"/>
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<axis xyz="0.0 0.0 0.0"/>
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</joint>
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<link name="wheel_rear_right_link">
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<visual name="">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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<geometry>
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<cylinder radius="0.15" length="0.1"/>
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</geometry>
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<material name="">
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<color rgba="0.0 1.0 0.0 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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<geometry>
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<cylinder radius="0.15" length="0.1"/>
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</geometry>
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</collision>
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</link>
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<joint name="wheel_rear_right_joint" type="continuous">
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<origin xyz="0.25 0.4 0.0" rpy="1.57 0.0 0.0"/>
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<parent link="base_link"/>
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<child link="wheel_rear_right_link"/>
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<axis xyz="0.0 0.0 1.0"/>
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</joint>
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<link name="wheel_rear_left_link">
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<visual name="">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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<geometry>
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<cylinder radius="0.15" length="0.1"/>
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</geometry>
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<material name="">
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<color rgba="0.0 1.0 0.0 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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<geometry>
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<cylinder radius="0.15" length="0.1"/>
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</geometry>
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</collision>
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</link>
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<joint name="wheel_rear_left_joint" type="continuous">
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<origin xyz="0.25 -0.4 0.0" rpy="1.57 0.0 0.0"/>
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<parent link="base_link"/>
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<child link="wheel_rear_left_link"/>
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<axis xyz="0.0 0.0 1.0"/>
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</joint>
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<link name="wheel_front_right_link">
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<visual name="">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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<geometry>
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<cylinder radius="0.15" length="0.1"/>
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</geometry>
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<material name="">
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<color rgba="0.0 1.0 0.0 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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<geometry>
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<cylinder radius="0.15" length="0.1"/>
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</geometry>
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</collision>
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</link>
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<joint name="wheel_front_right_joint" type="continuous">
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<origin xyz="-0.25 0.4 0.0" rpy="1.57 0.0 0.0"/>
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<parent link="base_link"/>
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<child link="wheel_front_right_link"/>
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<axis xyz="0.0 0.0 1.0"/>
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</joint>
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<link name="wheel_front_left_link">
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<visual name="">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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<geometry>
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<cylinder radius="0.15" length="0.1"/>
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</geometry>
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<material name="">
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<color rgba="0.0 1.0 0.0 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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<geometry>
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<cylinder radius="0.15" length="0.1"/>
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</geometry>
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</collision>
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</link>
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<joint name="wheel_front_left_joint" type="continuous">
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<origin xyz="-0.25 -0.4 0.0" rpy="1.57 0.0 0.0"/>
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<parent link="base_link"/>
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<child link="wheel_front_left_link"/>
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<axis xyz="0.0 0.0 1.0"/>
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</joint>
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</robot>

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