URDF
<?xml version="1.0" encoding="utf-8"?> <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected]) Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018 For more information, please see http://wiki.ros.org/sw_urdf_exporter --> <robot name="smartwheelchair_model"> <link name="base_link"> <inertial> <origin xyz="0.071793651840574 -0.0111022819034436 -0.165475510614961" rpy="0 0 0" /> <mass value="26.2736382176516" /> <inertia ixx="2.53902638074258" ixy="0.105926700574816" ixz="0.672576086778549" iyy="2.61400293250425" iyz="0.117880225409204" izz="2.26655952469972" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/base_link.STL" /> </geometry> <material name=""> <color rgba="0.666666666666667 0.698039215686274 0.768627450980392 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/base_link.STL" /> </geometry> </collision> </link> <link name="front_left_link"> <inertial> <origin xyz="-5.98826543907194E-14 -0.0294979270265525 -1.73416836446449E-13" rpy="0 0 0" /> <mass value="2.73380732959739" /> <inertia ixx="0.0540175535224848" ixy="-9.37490464830404E-14" ixz="5.70463674728184E-14" iyy="0.105827632352094" iyz="-2.91387363698334E-14" izz="0.0540175535219555" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/front_left_link.STL" /> </geometry> <material name=""> <color rgba="0.294117647058824 0.294117647058824 0.294117647058824 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/front_left_link.STL" /> </geometry> </collision> </link> <joint name="front_left_joint" type="continuous"> <origin xyz="0.125 0.32744 -0.32024" rpy="0 0 0" /> <parent link="base_link" /> <child link="front_left_link" /> <axis xyz="0 1 0" /> <limit lower="-180" upper="180" effort="0" velocity="0" /> </joint> <link name="rear_left_link"> <inertial> <origin xyz="0.00443883274698265 -0.159000141701653 -0.0610820964989148" rpy="0 0 0" /> <mass value="0.218543419099177" /> <inertia ixx="0.00138257528279561" ixy="4.94760179596061E-05" ixz="3.77546054156748E-05" iyy="0.000561948581245053" iyz="-0.000582727419998246" izz="0.00107345266613901" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/rear_left_link.STL" /> </geometry> <material name=""> <color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/rear_left_link.STL" /> </geometry> </collision> </link> <joint name="rear_left_joint" type="continuous"> <origin xyz="-0.40155 0.26744 -0.20624" rpy="1.5708 0 1.7371" /> <parent link="base_link" /> <child link="rear_left_link" /> <axis xyz="0 1 0" /> </joint> <link name="wheel_rear_left_link"> <inertial> <origin xyz="0.00653640490648077 -0.0389351446936917 6.97854693476607E-09" rpy="0 0 0" /> <mass value="2.05874206334677" /> <inertia ixx="0.0145592695258203" ixy="-0.00225630762393329" ixz="-2.72157388421748E-09" iyy="0.0276205421886138" iyz="-4.71240874480446E-10" izz="0.014180480200489" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/wheel_rear_left_link.STL" /> </geometry> <material name=""> <color rgba="0.294117647058824 0.294117647058824 0.294117647058824 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/wheel_rear_left_link.STL" /> </geometry> </collision> </link> <joint name="wheel_rear_left_joint" type="continuous"> <origin xyz="0.03948 -0.21 -0.1" rpy="1.5708 -1.4045 3.1416" /> <parent link="rear_left_link" /> <child link="wheel_rear_left_link" /> <axis xyz="-0.16556 0.9862 0" /> <limit lower="-180" upper="180" effort="0" velocity="0" /> </joint> <link name="front_right_link"> <inertial> <origin xyz="1.32630018079283E-13 0.0294979270265526 -1.26731958260962E-13" rpy="0 0 0" /> <mass value="2.73380732959733" /> <inertia ixx="0.0540175535224209" ixy="-9.67321655236162E-14" ixz="1.8160422674322E-13" iyy="0.105827632352093" iyz="-1.67393860339268E-14" izz="0.0540175535220183" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/front_right_link.STL" /> </geometry> <material name=""> <color rgba="0.866666666666667 0.909803921568627 1 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/front_right_link.STL" /> </geometry> </collision> </link> <joint name="front_right_joint" type="continuous"> <origin xyz="0.125 -0.32154 -0.32024" rpy="0 0 0" /> <parent link="base_link" /> <child link="front_right_link" /> <axis xyz="0 -1 0" /> <limit lower="-180" upper="180" effort="0" velocity="0" /> </joint> <link name="rear_right_link"> <inertial> <origin xyz="-0.00443895322170662 -0.159000141931278 -0.0610820981859959" rpy="0 0 0" /> <mass value="0.218543419196504" /> <inertia ixx="0.00138257531626846" ixy="-4.94729909470212E-05" ixz="-3.77531936561614E-05" iyy="0.000561950359239888" iyz="-0.000582722657630795" izz="0.00107345045383076" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/rear_right_link.STL" /> </geometry> <material name=""> <color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/rear_right_link.STL" /> </geometry> </collision> </link> <joint name="rear_right_joint" type="continuous"> <origin xyz="-0.40155 -0.26154 -0.20624" rpy="1.5708 0 1.7371" /> <parent link="base_link" /> <child link="rear_right_link" /> <axis xyz="0 -1 0" /> <limit lower="-180" upper="180" effort="0" velocity="0" /> </joint> <link name="wheel_rear_right_link"> <inertial> <origin xyz="-0.00653640348729612 0.0389351469670967 9.15520717570395E-09" rpy="0 0 0" /> <mass value="2.05874178462337" /> <inertia ixx="0.0145592650917787" ixy="-0.00225630804394482" ixz="-9.8275687204457E-10" iyy="0.02762054030789" iyz="-9.60855468748932E-11" izz="0.0141804828642344" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/wheel_rear_right_link.STL" /> </geometry> <material name=""> <color rgba="0.294117647058824 0.294117647058824 0.294117647058824 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/wheel_rear_right_link.STL" /> </geometry> </collision> </link> <joint name="wheel_rear_right_joint" type="revolute"> <origin xyz="-0.03948 -0.21 -0.1" rpy="1.5708 -1.4045 3.1416" /> <parent link="rear_right_link" /> <child link="wheel_rear_right_link" /> <axis xyz="0.16556 -0.9862 0" /> <limit lower="-180" upper="180" effort="0" velocity="0" /> </joint> <link name="laser_Link"> <inertial> <origin xyz="0.065791191331278 -9.1747807187873E-10 -0.0926765202077648" rpy="0 0 0" /> <mass value="6.86176515805913" /> <inertia ixx="0.0631299703695162" ixy="-2.88721826247212E-10" ixz="-0.000562191972859836" iyy="0.03676014992034" iyz="-4.08726766416169E-10" izz="0.046630206646977" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/laser_Link.STL" /> </geometry> <material name=""> <color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/laser_Link.STL" /> </geometry> </collision> </link> <joint name="laser_joint" type="fixed"> <origin xyz="-0.42295 0.0029489 -0.030238" rpy="0 0 0" /> <parent link="base_link" /> <child link="laser_Link" /> <axis xyz="0 0 0" /> </joint> </robot>
smartwheelchair_base.xacro
<?xml version="1.0" encoding="utf-8"?> <robot name="smartwheelchair_model" xmlns:xacro="http://www.ros.org/wiki/xacro" > <!-- PROPERTY LIST --> <xacro:property name="M_PI" value="3.1415926"/> <xacro:property name="wheel_radius" value="0.2838162"/> <xacro:property name="wheel_distance" value="0.64899"/> <xacro:macro name="mbot_base"> <!-- smartwheelchair's link and joint --> <link name="base_link"> <inertial> <origin xyz="0 0 0.53122" rpy="0 0 0" /> <mass value="26.2736382176516" /> <inertia ixx="2.53902638074258" ixy="0.105926700574816" ixz="0.672576086778549" iyy="2.61400293250425" iyz="0.117880225409204" izz="2.26655952469972" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/base_link.STL" /> </geometry> <material name=""> <color rgba="0.666666666666667 0.698039215686274 0.768627450980392 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/base_link.STL" /> </geometry> </collision> </link> <link name="front_left_link"> <inertial> <origin xyz="-5.98826543907194E-14 -0.0294979270265525 -1.73416836446449E-13" rpy="0 0 0" /> <mass value="2.73380732959739" /> <inertia ixx="0.0540175535224848" ixy="-9.37490464830404E-14" ixz="5.70463674728184E-14" iyy="0.105827632352094" iyz="-2.91387363698334E-14" izz="0.0540175535219555" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/front_left_link.STL" /> </geometry> <material name=""> <color rgba="0.294117647058824 0.294117647058824 0.294117647058824 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/front_left_link.STL" /> </geometry> </collision> </link> <joint name="front_left_joint" type="continuous"> <origin xyz="0.125 0.32744 -0.32024" rpy="0 0 0" /> <parent link="base_link" /> <child link="front_left_link" /> <axis xyz="0 1 0" /> <limit lower="-180" upper="180" effort="0" velocity="0" /> </joint> <link name="rear_left_link"> <inertial> <origin xyz="0.00443883274698265 -0.159000141701653 -0.0610820964989148" rpy="0 0 0" /> <mass value="0.218543419099177" /> <inertia ixx="0.00138257528279561" ixy="4.94760179596061E-05" ixz="3.77546054156748E-05" iyy="0.000561948581245053" iyz="-0.000582727419998246" izz="0.00107345266613901" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/rear_left_link.STL" /> </geometry> <material name=""> <color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/rear_left_link.STL" /> </geometry> </collision> </link> <joint name="rear_left_joint" type="continuous"> <origin xyz="-0.40155 0.26744 -0.20624" rpy="1.5708 0 1.7371" /> <parent link="base_link" /> <child link="rear_left_link" /> <axis xyz="0 1 0" /> </joint> <link name="wheel_rear_left_link"> <inertial> <origin xyz="0.00653640490648077 -0.0389351446936917 6.97854693476607E-09" rpy="0 0 0" /> <mass value="2.05874206334677" /> <inertia ixx="0.0145592695258203" ixy="-0.00225630762393329" ixz="-2.72157388421748E-09" iyy="0.0276205421886138" iyz="-4.71240874480446E-10" izz="0.014180480200489" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/wheel_rear_left_link.STL" /> </geometry> <material name=""> <color rgba="0.294117647058824 0.294117647058824 0.294117647058824 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/wheel_rear_left_link.STL" /> </geometry> </collision> </link> <joint name="wheel_rear_left_joint" type="continuous"> <origin xyz="0.03948 -0.21 -0.1" rpy="1.5708 -1.4045 3.1416" /> <parent link="rear_left_link" /> <child link="wheel_rear_left_link" /> <axis xyz="-0.16556 0.9862 0" /> <limit lower="-180" upper="180" effort="0" velocity="0" /> </joint> <link name="front_right_link"> <inertial> <origin xyz="1.32630018079283E-13 0.0294979270265526 -1.26731958260962E-13" rpy="0 0 0" /> <mass value="2.73380732959733" /> <inertia ixx="0.0540175535224209" ixy="-9.67321655236162E-14" ixz="1.8160422674322E-13" iyy="0.105827632352093" iyz="-1.67393860339268E-14" izz="0.0540175535220183" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/front_right_link.STL" /> </geometry> <material name=""> <color rgba="0.294117647058824 0.294117647058824 0.294117647058824 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/front_right_link.STL" /> </geometry> </collision> </link> <joint name="front_right_joint" type="continuous"> <origin xyz="0.125 -0.32154 -0.32024" rpy="0 0 0" /> <parent link="base_link" /> <child link="front_right_link" /> <axis xyz="0 -1 0" /> <limit lower="-180" upper="180" effort="0" velocity="0" /> </joint> <link name="rear_right_link"> <inertial> <origin xyz="-0.00443895322170662 -0.159000141931278 -0.0610820981859959" rpy="0 0 0" /> <mass value="0.218543419196504" /> <inertia ixx="0.00138257531626846" ixy="-4.94729909470212E-05" ixz="-3.77531936561614E-05" iyy="0.000561950359239888" iyz="-0.000582722657630795" izz="0.00107345045383076" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/rear_right_link.STL" /> </geometry> <material name=""> <color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/rear_right_link.STL" /> </geometry> </collision> </link> <joint name="rear_right_joint" type="continuous"> <origin xyz="-0.40155 -0.26154 -0.20624" rpy="1.5708 0 1.7371" /> <parent link="base_link" /> <child link="rear_right_link" /> <axis xyz="0 -1 0" /> <limit lower="-180" upper="180" effort="0" velocity="0" /> </joint> <link name="wheel_rear_right_link"> <inertial> <origin xyz="-0.00653640348729612 0.0389351469670967 9.15520717570395E-09" rpy="0 0 0" /> <mass value="2.05874178462337" /> <inertia ixx="0.0145592650917787" ixy="-0.00225630804394482" ixz="-9.8275687204457E-10" iyy="0.02762054030789" iyz="-9.60855468748932E-11" izz="0.0141804828642344" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/wheel_rear_right_link.STL" /> </geometry> <material name=""> <color rgba="0.294117647058824 0.294117647058824 0.294117647058824 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://smartwheelchair_model/meshes/wheel_rear_right_link.STL" /> </geometry> </collision> </link> <joint name="wheel_rear_right_joint" type="revolute"> <origin xyz="-0.03948 -0.21 -0.1" rpy="1.5708 -1.4045 3.1416" /> <parent link="rear_right_link" /> <child link="wheel_rear_right_link" /> <axis xyz="0.16556 -0.9862 0" /> <limit lower="-180" upper="180" effort="0" velocity="0" /> </joint> <link name="base_footprint"> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <box size="0.001 0.001 0.001" /> </geometry> </visual> </link> <joint name="base_footprint_joint" type="fixed"> <origin xyz="0 0 0.53122" rpy="0 0 0" /> <parent link="base_footprint"/> <child link="base_link" /> </joint> </xacro:macro> </robot>