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145 lines
3.4 KiB
145 lines
3.4 KiB
<?xml version="1.0"?>
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<robot name="t_shape_robot">
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<!-- 机器人底盘 -->
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<link name="base_link">
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<visual>
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<geometry>
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<box size="0.5 0.3 0.15"/>
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</geometry>
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<origin xyz="0 0 0.075" rpy="0 0 0"/>
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<material name="blue">
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<color rgba="0.2 0.5 0.9 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.5 0.3 0.15"/>
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</geometry>
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<origin xyz="0 0 0.075" rpy="0 0 0"/>
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</collision>
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</link>
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<!-- 左轮 -->
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<link name="left_wheel">
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<visual>
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<geometry>
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<cylinder radius="0.1" length="0.05"/>
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</geometry>
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<origin xyz="0 0 0" rpy="1.5708 0 0"/>
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<material name="black">
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<color rgba="0.15 0.15 0.15 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder radius="0.1" length="0.05"/>
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</geometry>
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<origin xyz="0 0 0" rpy="1.5708 0 0"/>
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</collision>
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</link>
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<joint name="left_wheel_joint" type="continuous">
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<parent link="base_link"/>
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<child link="left_wheel"/>
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<origin xyz="0 0.175 0" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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</joint>
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<!-- 右轮 -->
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<link name="right_wheel">
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<visual>
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<geometry>
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<cylinder radius="0.1" length="0.05"/>
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</geometry>
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<origin xyz="0 0 0" rpy="1.5708 0 0"/>
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<material name="black">
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<color rgba="0.15 0.15 0.15 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder radius="0.1" length="0.05"/>
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</geometry>
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<origin xyz="0 0 0" rpy="1.5708 0 0"/>
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</collision>
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</link>
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<joint name="right_wheel_joint" type="continuous">
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<parent link="base_link"/>
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<child link="right_wheel"/>
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<origin xyz="0 -0.175 0" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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</joint>
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<!-- 前万向轮 -->
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<link name="front_caster">
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<visual>
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<geometry>
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<sphere radius="0.05"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="grey">
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<color rgba="0.5 0.5 0.5 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.05"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</collision>
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</link>
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<joint name="front_caster_joint" type="fixed">
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<parent link="base_link"/>
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<child link="front_caster"/>
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<origin xyz="0.2 0 -0.05" rpy="0 0 0"/>
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</joint>
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<!-- 后万向轮 -->
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<link name="back_caster">
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<visual>
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<geometry>
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<sphere radius="0.05"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="grey">
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<color rgba="0.5 0.5 0.5 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.05"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</collision>
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</link>
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<joint name="back_caster_joint" type="fixed">
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<parent link="base_link"/>
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<child link="back_caster"/>
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<origin xyz="-0.2 0 -0.05" rpy="0 0 0"/>
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</joint>
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<!-- 传感器平台（装饰性） -->
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<link name="sensor_platform">
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<visual>
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<geometry>
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<cylinder radius="0.08" length="0.05"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="red">
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<color rgba="0.9 0.2 0.2 1.0"/>
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</material>
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</visual>
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</link>
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<joint name="sensor_platform_joint" type="fixed">
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<parent link="base_link"/>
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<child link="sensor_platform"/>
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<origin xyz="0.15 0 0.175" rpy="0 0 0"/>
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</joint>
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</robot>
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