test_robot.urdf.xacro

<?xml version="1.0" ?>
<robot name="mecanum_wheel_robot" xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:include filename="$(find fuji_mecanum)/urdf/mecanum_wheel_macro.xacro" />

  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.7 0.4 0.3" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.7 0.4 0.3" />
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0" />
      <mass value="10.0" />
      <inertia ixx="0.83333" ixy="0.0" ixz="0.0"
              iyy="1.9333" iyz="0.0"
              izz="2.1667" />
    </inertial>
    
  </link>

  <gazebo reference="base_link">
    <mu1 value="0.6"/>
    <mu2 value="0.6"/>
    <kp value="10000000.0" />
    <kd value="1.0" />
    <fdir1 value="0 1 0"/>
  </gazebo>

  <xacro:mecanum_wheel name="front_right" side="1"  interface="hardware_interface/EffortJointInterface"/>
  <xacro:mecanum_wheel name="front_left"  side="-1" interface="hardware_interface/EffortJointInterface"/>
  <xacro:mecanum_wheel name="rear_right"  side="-1" interface="hardware_interface/EffortJointInterface"/>
  <xacro:mecanum_wheel name="rear_left"   side="1"  interface="hardware_interface/EffortJointInterface"/>

  <joint name="front_right_joint" type="continuous">    
    <origin xyz="0.3 -0.25 -0.1" rpy="0 0 ${pi/2}" />
    <axis xyz="1 0 0" />
    <parent link="base_link" />
    <child link="front_right_wheel_link" />    
  </joint>

  <joint name="front_left_joint" type="continuous">
    <origin xyz="0.3 0.25 -0.1" rpy="0 0 ${pi/2}" />
    <axis xyz="1 0 0" />
    <parent link="base_link" />
    <child link="front_left_wheel_link" />
  </joint>

  <joint name="rear_right_joint" type="continuous">
    <origin xyz="-0.3 -0.25 -0.1" rpy="0 0 ${pi/2}" />
    <axis xyz="1 0 0" />
    <parent link="base_link" />
    <child link="rear_right_wheel_link" />
  </joint>

  <joint name="rear_left_joint" type="continuous">
    <origin xyz="-0.3 0.25 -0.1" rpy="0 0 ${pi/2}" />
    <axis xyz="1 0 0" />
    <parent link="base_link" />
    <child link="rear_left_wheel_link" />
  </joint>

  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>

</robot>