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Copy pathRobot-with-lidar.urdf
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Robot-with-lidar.urdf
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<?xml version="1.0"?>
<robot name="/home/jagadeesh97/Documents/Robot.urdf" xmlns:xacro="http://ros.org/wiki/xacro">
<link name="base_link">
<visual>
<geometry>
<box size="0.2 0.1 0.05"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.2 0.1 0.05"/>
</geometry>
</collision>
</link>
<joint name="linear" type="prismatic">
<parent link="base_link"/>
<child link="L2"/>
<axis xyz="0 0 1"/>
<origin xyz="-0.05 -0.085 0.06" rpy="0 0 0"/>
<limit effort="10" lower="0" upper="0.2" velocity="10"/>
</joint>
<link name="L2">
</link>
<joint name="RM" type="continuous">
<parent link="L2"/>
<child link="solid"/>
<axis xyz="0 1 -0.000004"/>
<limit effort="10" velocity="10"/>
<origin xyz="0 -0.075 1" rpy="1.5708 0 0"/>
</joint>
<link name="solid">
</link>
<link name="CAM">
</link>
<joint name="solid_CAM_joint" type="fixed">
<parent link="solid"/>
<child link="CAM"/>
<origin xyz="0 -1 0.015004" rpy="0.785399 -1.570795 0.785399"/>
</joint>
<link name="solid(1)">
</link>
<joint name="base_link_solid(1)_joint" type="fixed">
<parent link="base_link"/>
<child link="solid(1)"/>
<origin xyz="-0.05 0 0.12" rpy="0 0 0"/>
</joint>
<link name="lidar">
</link>
<joint name="base_link_lidar_joint" type="fixed">
<parent link="base_link"/>
<child link="lidar"/>
<origin xyz="0.07 0 0.05" rpy="0 0 0"/>
</joint>
<link name="imu">
</link>
<joint name="base_link_imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu"/>
<origin xyz="0.04 0 0.03" rpy="0 0 0"/>
</joint>
<link name="global">
</link>
<joint name="base_link_global_joint" type="fixed">
<parent link="base_link"/>
<child link="global"/>
<origin xyz="0.01 0 0.03" rpy="0 0 0"/>
</joint>
<link name="ds_right">
<visual>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
</collision>
</link>
<joint name="base_link_ds_right_joint" type="fixed">
<parent link="base_link"/>
<child link="ds_right"/>
<origin xyz="0.1 -0.02 0" rpy="0 0 -0.3"/>
</joint>
<link name="ds_left">
<visual>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
</collision>
</link>
<joint name="base_link_ds_left_joint" type="fixed">
<parent link="base_link"/>
<child link="ds_left"/>
<origin xyz="0.1 0.02 0" rpy="0 0 0.3"/>
</joint>
<joint name="wheel4" type="continuous">
<parent link="base_link"/>
<child link="wheel4"/>
<axis xyz="0 -0.000004 -1"/>
<limit effort="10" velocity="10"/>
<origin xyz="-0.05 -0.06 0" rpy="-1.570793 0.954058 -3.141593"/>
</joint>
<link name="wheel4">
<visual>
<geometry>
<cylinder radius="0.04" length="0.02"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder radius="0.04" length="0.02"/>
</geometry>
</collision>
</link>
<joint name="wheel3" type="continuous">
<parent link="base_link"/>
<child link="wheel3"/>
<axis xyz="0 -0.000004 -1"/>
<limit effort="10" velocity="10"/>
<origin xyz="-0.05 0.06 0" rpy="-1.570793 0.954058 -3.141593"/>
</joint>
<link name="wheel3">
<visual>
<geometry>
<cylinder radius="0.04" length="0.02"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder radius="0.04" length="0.02"/>
</geometry>
</collision>
</link>
<joint name="wheel2" type="continuous">
<parent link="base_link"/>
<child link="wheel2"/>
<axis xyz="0 -0.000004 -1"/>
<limit effort="10" velocity="10"/>
<origin xyz="0.05 -0.06 0" rpy="-1.570793 0.954058 3.141593"/>
</joint>
<link name="wheel2">
<visual>
<geometry>
<cylinder radius="0.04" length="0.02"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder radius="0.04" length="0.02"/>
</geometry>
</collision>
</link>
<joint name="wheel1" type="continuous">
<parent link="base_link"/>
<child link="solid_0"/>
<axis xyz="0 -0.000004 -1"/>
<limit effort="10" velocity="10"/>
<origin xyz="0.05 0.06 0" rpy="-1.570793 0.282115 -3.141593"/>
</joint>
<link name="solid_0">
<visual>
<geometry>
<cylinder radius="0.04" length="0.02"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder radius="0.04" length="0.02"/>
</geometry>
</collision>
</link>
</robot>