50 lines
1.2 KiB
XML
50 lines
1.2 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<link name="base_link">
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</link>
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<!-- CHASSIS LINK -->
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<joint name="chassis_joint" type="fixed">
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<parent link="base_link"/>
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<child link="chassis"/>
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<origin xyz="0 0 0" rpy="0 0 ${-pi}"/>
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</joint>
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<link name="chassis">
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<visual>
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<geometry>
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<mesh filename="file://$(find sensor_sim)/description/assets/ft24_asm.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey"/>
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</visual>
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<collision>
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<geometry>
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<box size="2.0 2.0 0.1"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.0"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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<gazebo>
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<static>true</static>
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</gazebo>
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</link>
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<gazebo reference="chassis">
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<material>Gazebo/White</material>
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<visual>
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<laser_retro>255</laser_retro>
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<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
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<label>10</label>
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</plugin>
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</visual>
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</gazebo>
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</robot> |