forked from xtdrone/XTDrone
46 lines
1.3 KiB
XML
46 lines
1.3 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="example">
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<xacro:arg name="gpu" default="false"/>
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<xacro:property name="gpu" value="$(arg gpu)" />
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<!-- Base Footprint -->
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<link name="base_footprint" />
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<!-- Base Link -->
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<joint name="footprint" type="fixed" >
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<parent link="base_footprint" />
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<child link="base_link" />
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<origin xyz="0 0 0.05" rpy="0 0 0" />
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</joint>
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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 0.5 0.1" />
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</geometry>
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</visual>
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<collision>
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<geometry>
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<box size="0.5 0.5 0.1" />
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0"/>
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<mass value="10"/>
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<inertia ixx="3.0" ixy="0.0" ixz="0.0"
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iyy="3.0" iyz="0.0"
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izz="3.0" />
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</inertial>
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</link>
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<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
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<VLP-16 parent="base_link" name="velodyne" topic="/velodyne_points" hz="10" samples="440" gpu="${gpu}">
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<origin xyz="0 0 0.4" rpy="0 0 0" />
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</VLP-16>
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<xacro:include filename="$(find velodyne_description)/urdf/HDL-32E.urdf.xacro"/>
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<HDL-32E parent="base_link" name="velodyne2" topic="/velodyne_points2" hz="10" samples="220" gpu="${gpu}">
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<origin xyz="0 0 0.6" rpy="0 0 0" />
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</HDL-32E>
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</robot>
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