45 lines
965 B
XML
Executable File
45 lines
965 B
XML
Executable File
<robot name="myrobot">
|
|
<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>
|
|
|
|
<link name="imu_link">
|
|
<visual>
|
|
<origin xyz="0 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.05" radius="0.03" />
|
|
</geometry>
|
|
<material name="gray" />
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="up_laser_link">
|
|
<visual>
|
|
<origin xyz="0 0 0" />
|
|
<geometry>
|
|
<cylinder length="0.05" radius="0.03" />
|
|
</geometry>
|
|
<material name="gray" />
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="base_link" />
|
|
|
|
|
|
<joint name="imu_link_joint" type="fixed">
|
|
<parent link="base_link" />
|
|
<child link="imu_link" />
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<joint name="up_laser_link_joint" type="fixed">
|
|
<parent link="base_link" />
|
|
<child link="up_laser_link" />
|
|
<origin rpy="0 0 -1.7453" xyz="0 0 0" />
|
|
</joint>
|
|
|
|
</robot>
|