|
|
<?xml version="1.0"?> |
|
|
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" |
|
|
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" |
|
|
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" |
|
|
xmlns:xacro="http://ros.org/wiki/xacro"> |
|
|
|
|
|
<xacro:macro name="plugbar" params="parent name *origin"> |
|
|
|
|
|
<joint name="${name}_joint" type="fixed" > |
|
|
<xacro:insert_block name="origin" /> |
|
|
<parent link="${parent}" /> |
|
|
<child link="${name}_link" /> |
|
|
</joint> |
|
|
|
|
|
<link name="${name}_link"> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.1"/> |
|
|
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" /> |
|
|
</inertial> |
|
|
|
|
|
<visual> |
|
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="package://mir_description/meshes/misc/plugbar.dae" scale="0.001 0.001 0.001" /> |
|
|
</geometry> |
|
|
<material name="DarkGrey"/> |
|
|
</visual> |
|
|
|
|
|
<collision> |
|
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="package://mir_description/meshes/misc/plugbar_convex_hull.dae" scale="0.001 0.001 0.001" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
</xacro:macro> |
|
|
|
|
|
</robot> |
|
|
|
