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Add 04 introduction to urdf with a box model
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| Original file line number | Diff line number | Diff line change |
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
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| <include file="$(find box)/launch/spawn_xacro.launch"> | ||
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| <arg name="x" value="0.0"/> | ||
| <arg name="y" value="0.0"/> | ||
| <arg name="z" value="0.0"/> | ||
| <arg name="urdf_robot_file" value="$(find box)/urdf/box.xacro"/> | ||
| <arg name="robot_name" value="my_box"/> | ||
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| </include> | ||
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| </launch> |
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
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| <include file="$(find box)/launch/spawn_xacro.launch"> | ||
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| <arg name="x" value="0.0"/> | ||
| <arg name="y" value="0.0"/> | ||
| <arg name="z" value="0.0"/> | ||
| <arg name="urdf_robot_file" value="$(find box)/urdf/box.xacro"/> | ||
| <arg name="robot_name" value="my_box"/> | ||
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| </include> | ||
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| </launch> |
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| <?xml version="1.0" encoding="UTF-8"?> | ||
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| <launch> | ||
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| <arg name="x" default="0.0"/> | ||
| <arg name="y" default="0.0"/> | ||
| <arg name="z" default="0.0"/> | ||
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| <arg name="urdf_robot_file" default=""/> | ||
| <arg name="robot_name" default=""/> | ||
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| <!-- <param name="robot_description" command="$(arg urdf_robot_file)"/> --> | ||
| <param name="robot_description" command="$(find xacro)/xacro '$(arg urdf_robot_file)' roboname:='$(arg robot_name)'" /> | ||
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| <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-urdf -x $(arg x) -y $(arg y) -z $(arg z) -model $(arg robot_name) -param robot_description"/> | ||
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| </launch> |
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| @@ -0,0 +1,36 @@ | ||
| <?xml version="1.0" ?> | ||
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| <robot name="box"> | ||
| <link name="base_link"> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <box size="1 1 1"/> | ||
| </geometry> | ||
| </collision> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <box size="1 1 1"/> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
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| <joint name="inertial_joint" type="fixed"> | ||
| <parent link="base_link"/> | ||
| <child link="main_mass"/> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| </joint> | ||
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| <link name="main_mass" type="fixed"> | ||
| <parent link="inertial_joint"/> | ||
| <inertial> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <mass value="1000"/> | ||
| <inertia | ||
| ixx="166.6666" ixy="0.000000" ixz="0.000000" | ||
| iyy="166.6666" iyz="0.000000" | ||
| izz="166.6666"/> | ||
| </inertial> | ||
| </link> | ||
| </robot> |
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| <?xml version="1.0" ?> | ||
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| <robot name="box" xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <xacro:property name="length" value="1"/> | ||
| <xacro:property name="width" value="1"/> | ||
| <xacro:property name="height" value="1"/> | ||
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| <link name="base_link"> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <box size="${length} ${width} ${height}"/> | ||
| </geometry> | ||
| </collision> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <box size="${length} ${width} ${height}"/> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
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| <joint name="inertial_joint" type="fixed"> | ||
| <parent link="base_link"/> | ||
| <child link="main_mass"/> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| </joint> | ||
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| <link name="main_mass" type="fixed"> | ||
| <parent link="inertial_joint"/> | ||
| <inertial> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <mass value="1000"/> | ||
| <inertia | ||
| ixx="166.6666" ixy="0.000000" ixz="0.000000" | ||
| iyy="166.6666" iyz="0.000000" | ||
| izz="166.6666"/> | ||
| </inertial> | ||
| </link> | ||
| </robot> |