75 lines
2.0 KiB
Plaintext
75 lines
2.0 KiB
Plaintext
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Copyright 2016 The Cartographer Authors
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<robot name="cartographer_backpack_3d">
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<material name="orange">
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<color rgba="1.0 0.5 0.2 1" />
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</material>
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<material name="gray">
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<color rgba="0.2 0.2 0.2 1" />
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</material>
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<link name="imu_link">
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<visual>
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<origin xyz="0.0 0.0 0.0" />
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<geometry>
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<box size="0.06 0.04 0.02" />
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</geometry>
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<material name="orange" />
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</visual>
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</link>
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<link name="horizontal_vlp16_link">
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<visual>
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<origin xyz="0.0 0.0 0.0" />
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<geometry>
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<cylinder length="0.07" radius="0.05" />
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</geometry>
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<material name="gray" />
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</visual>
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</link>
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<link name="vertical_vlp16_link">
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<visual>
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<origin xyz="0.0 0.0 0.0" />
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<geometry>
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<cylinder length="0.07" radius="0.05" />
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</geometry>
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<material name="gray" />
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</visual>
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</link>
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<link name="base_link" />
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<joint name="imu_link_joint" type="fixed">
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<parent link="base_link" />
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<child link="imu_link" />
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<origin xyz="0 0 0" rpy="3.1416 0 0" />
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</joint>
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<joint name="horizontal_vlp16_link_joint" type="fixed">
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<parent link="base_link" />
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<child link="horizontal_vlp16_link" />
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<origin xyz="0.01 0. 0.19" rpy="0. -0.1745 3.1416" />
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</joint>
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<joint name="vertical_vlp16_link_joint" type="fixed">
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<parent link="base_link" />
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<child link="vertical_vlp16_link" />
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<origin xyz="0.19 0. 0.04" rpy="0. 1.3963 0." />
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</joint>
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</robot>
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