kobuki_vlp.urdf.xacro

<?xml version="1.0"?>
<!--
    - Base      : kobuki
    - Stacks    : hexagons
    - 3d Sensor : kinect
-->    
<robot name="turtlebot" xmlns:xacro="http://ros.org/wiki/xacro">
  <material name="orange">
    <color rgba="1.0 0.5 0.2 1" />
  </material>
  <material name="gray">
    <color rgba="0.2 0.2 0.2 1" />
  </material>

  <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_common_library.urdf.xacro" />
  <xacro:include filename="$(find kobuki_description)/urdf/kobuki.urdf.xacro" />
  <!--<xacro:include filename="$(find sensor_fusion)/urdf/platform_vlp.urdf.xacro"/>-->
  
  <kobuki/>
  <!--<stack_hexagons                 parent="base_footprint"/>-->

  <xacro:property name="vlp_length" value="0.07"/>
  <xacro:property name="vlp_radius" value="0.05"/>
  <xacro:property name="plate_thickness" value="0.006"/>
  <xacro:property name="pole_middle_length" value="0.08"/>
  <xacro:property name="pole_base_length" value="0.04"/>
  <xacro:property name="imu_x" value="0.058"/>
  <xacro:property name="imu_y" value="0.058"/>
  <xacro:property name="imu_z" value="0.033"/>
  
  <!--XSens IMU link-->
  <link name="imu">
    <visual>
      <origin xyz="-0.05 -0.018 0.202" />
      <geometry>
        <box size="${imu_x} ${imu_y} ${imu_z}" />
      </geometry>
      <material name="orange" />
    </visual>
  </link>
  
  <joint name="imu_link_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="imu" />
    <origin xyz="-${imu_x/2.0} -0.1314 ${pole_base_length+(pole_middle_length)+(plate_thickness*2.0)+(imu_z/2.0)}"/>
  </joint>

  <!--Lidar VLP16 Link-->
  
  
  <link name="velodyne">
    <visual>
      <origin xyz="0.0 0.0 0.2685" />
      <geometry>
        <cylinder length="${vlp_length}" radius="${vlp_radius}" />
      </geometry>
      <material name="gray" />
    </visual>
  </link>
  
  <joint name="velodyne_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="velodyne" />
    <origin xyz="0. 0. ${pole_base_length+(pole_middle_length*2.0)+(plate_thickness*3.0)+(vlp_length/2.0)}" rpy="0. 0. 0."/>
  </joint>
  
</robot>