forked from xtdrone/XTDrone
36 lines
1.1 KiB
XML
36 lines
1.1 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="wam-v-batteries">
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<xacro:macro name="battery" params="prefix position:='0 0 0' orientation:='0 0 0'">
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<link name="${prefix}_battery_link">
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<visual name="${prefix}_battery_visual">
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<origin xyz="0 -1.03 -.45" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://vrx_gazebo/models/battery/mesh/battery.dae"/>
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</geometry>
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</visual>
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<collision name="${prefix}_battery_collision">
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<origin xyz="0 0 .15" rpy="0 0 0"/>
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<geometry>
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<box size=".6 .4 .31"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 .15" rpy=" 0 0 0"/>
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<mass value="23.5"/>
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<inertia
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ixx="0.5015291666666667"
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iyy="0.8931958333333333"
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izz="1.0183333333333333"
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ixy="0"
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ixz="0"
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iyz="0"/>
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</inertial>
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</link>
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<joint name ="${prefix}_chasis_battery_joint" type="fixed">
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<origin xyz="${position}" rpy="${orientation}"/>
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<parent link="base_link"/>
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<child link="${prefix}_battery_link"/>
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</joint>
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</xacro:macro>
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</robot>
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