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turtlebot3_waffle.urdf.xacro
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<?xml version="1.0" ?>
<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
<xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle.gazebo.xacro"/>
<xacro:property name="r200_cam_rgb_px" value="0.005"/>
<xacro:property name="r200_cam_rgb_py" value="0.018"/>
<xacro:property name="r200_cam_rgb_pz" value="0.013"/>
<xacro:property name="r200_cam_depth_offset" value="0.01"/>
<link name="base_footprint"/>
<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link" />
<origin xyz="0 0 0.010" rpy="0 0 0"/>
</joint>
<link name="base_link">
<visual>
<origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/bases/waffle_base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="light_black"/>
</visual>
<collision>
<origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
<geometry>
<box size="0.266 0.266 0.094"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.3729096e+00"/>
<inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
iyy="8.6195418e-03" iyz="-3.5422299e-06"
izz="1.4612727e-02" />
</inertial>
</link>
<joint name="wheel_left_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_left_link"/>
<origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_left_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="2.8498940e-02" />
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
iyy="1.1192413e-05" iyz="-1.4400107e-11"
izz="2.0712558e-05" />
</inertial>
</link>
<joint name="wheel_right_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_right_link"/>
<origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_right_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="2.8498940e-02" />
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
iyy="1.1192413e-05" iyz="-1.4400107e-11"
izz="2.0712558e-05" />
</inertial>
</link>
<joint name="caster_back_right_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_right_link"/>
<origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
</joint>
<link name="caster_back_right_link">
<collision>
<origin xyz="0 0.001 0" rpy="0 0 0"/>
<geometry>
<box size="0.030 0.009 0.020"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="0.005" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
<joint name="caster_back_left_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_left_link"/>
<origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
</joint>
<link name="caster_back_left_link">
<collision>
<origin xyz="0 0.001 0" rpy="0 0 0"/>
<geometry>
<box size="0.030 0.009 0.020"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="0.005" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu_link"/>
<origin xyz="0.0 0 0.068" rpy="0 0 0"/>
</joint>
<link name="imu_link"/>
<joint name="camera_joint" type="fixed">
<origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 1.57"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
<geometry>
<box size="0.012 0.132 0.020"/>
</geometry>
</collision>
<!-- This inertial field needs doesn't contain reliable data!! -->
<!-- <inertial>
<mass value="0.564" />
<origin xyz="0 0 0" />
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
iyy="0.000498940" iyz="0.0"
izz="0.003879257" />
</inertial>-->
</link>
<joint name="camera_rgb_joint" type="fixed">
<origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/>
<parent link="camera_link"/>
<child link="camera_rgb_frame"/>
</joint>
<link name="camera_rgb_frame"/>
<joint name="camera_rgb_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
<parent link="camera_rgb_frame"/>
<child link="camera_rgb_optical_frame"/>
</joint>
<link name="camera_rgb_optical_frame"/>
<joint name="camera_depth_joint" type="fixed">
<origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/>
<parent link="camera_link"/>
<child link="camera_depth_frame"/>
</joint>
<link name="camera_depth_frame"/>
<joint name="camera_depth_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
<parent link="camera_depth_frame"/>
<child link="camera_depth_optical_frame"/>
</joint>
<link name="camera_depth_optical_frame"/>
</robot>