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my_robot.xacro
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<?xml version='1.0'?>
<robot name="my_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="red">
<color rgba="0.8 0 0 1"/>
</material>
<material name="green">
<color rgba="0 0.8 0 1"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1"/>
</material>
<material name="yellow">
<color rgba="1.0 1.0 0.0 1"/>
</material>
<!-- Include plugins-->
<xacro:include filename="$(find my_robot)/urdf/my_robot.gazebo" />
<!-- Include arm definition file-->
<xacro:include filename="$(find my_robot)/urdf/arm.xacro" />
<!-- Include ball container file -->
<xacro:include filename="$(find my_robot)/urdf/ball_container.xacro" />
<!-- create the left and right arm-->
<arm lr="left" tY = "-1" />
<arm lr="right" tY = "1" />
<!-- create ball container-->
<ball_container/>
<!-- link and joints definition of the robot chassis and wheel-->
<link name="robot_footprint"></link>
<joint name="robot_footprint_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="robot_footprint"/>
<child link="chassis"/>
</joint>
<link name="base_footprint"></link>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="robot_footprint"/>
<child link="base_footprint"/>
</joint>
<!-- definition of the chassis -->
<link name='chassis'>
<pose>0 0 0.1 0 0 0</pose>
<inertial>
<mass value="15.0"/>
<origin xyz="0.0 0 0" rpy="0 0 0"/>
<inertia
ixx="0.1" ixy="0" ixz = "0"
iyy = "0.1" iyz = "0"
izz = "0.1"
/>
</inertial>
<!--<collision name='collision'>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size=".8 .8 .1"/>
</geometry>
</collision>
<visual name='chassis_visual'>
<origin xyz = "0 0 0" rpy = "0 0 0"/>
<geometry>
<box size=".8 .8 .1"/>
</geometry>
</visual>-->
<collision name='collision'>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.4" length="0.1"/>
</geometry>
</collision>
<visual name='chassis_visual'>
<origin xyz = "0 0 0" rpy = "0 0 0"/>
<geometry>
<cylinder radius="0.4" length="0.1"/>
</geometry>
<material name="green"/>
</visual>
<collision name = 'back_caster_collision'>
<origin xyz = "-0.3 0 -0.1" rpy=" 0 0 0"/>
<geometry>
<sphere radius="0.099"/>
</geometry>
</collision>
<visual name='back_caster_visual'>
<origin xyz = "-0.3 0 -0.1" rpy=" 0 0 0"/>
<geometry>
<sphere radius="0.1"/>
</geometry>
</visual>
<collision name = 'front_caster_collision'>
<origin xyz = "0.3 0 -0.1" rpy=" 0 0 0"/>
<geometry>
<sphere radius="0.099"/>
</geometry>
</collision>
<visual name='front_caster_visual'>
<origin xyz = "0.3 0 -0.1" rpy=" 0 0 0"/>
<geometry>
<sphere radius="0.1"/>
</geometry>
</visual>
</link>
<gazebo reference="chassis">
<material>Gazebo/Green</material>
</gazebo>
<link name='left_wheel'>
<inertial>
<mass value="5.0"/>
<origin xyz="0.0 0 0" rpy="0 1.5707 1.5707"/>
<inertia
ixx="0.1" ixy="0" ixz = "0"
iyy = "0.1" iyz = "0"
izz = "0.1"
/>
</inertial>
<collision name = 'left_wheel_collision'>
<origin xyz = "0.0 0 0.0" rpy=" 0 1.5707 1.5707"/>
<geometry>
<cylinder radius="0.2" length="0.05"/>
</geometry>
</collision>
<visual name='left_wheel_visual'>
<origin xyz = "0.0 0 0.0" rpy=" 0 1.5707 1.5707"/>
<geometry>
<cylinder radius="0.2" length="0.05"/>
</geometry>
</visual>
</link>
<gazebo reference="left_wheel">
<material>Gazebo/Black</material>
</gazebo>
<link name='right_wheel'>
<inertial>
<mass value="5.0"/>
<origin xyz="0.0 0 0" rpy="0 1.5707 1.5707"/>
<inertia
ixx="0.1" ixy="0" ixz = "0"
iyy = "0.1" iyz = "0"
izz = "0.1"
/>
</inertial>
<collision name = 'right_wheel_collision'>
<origin xyz = "0.0 0 0.0" rpy=" 0 1.5707 1.5707"/>
<geometry>
<cylinder radius="0.2" length="0.05"/>
</geometry>
</collision>
<visual name='right_wheel_visual'>
<origin xyz = "0.0 0 0.0" rpy=" 0 1.5707 1.5707"/>
<geometry>
<cylinder radius="0.2" length="0.05"/>
</geometry>
</visual>
</link>
<gazebo reference="right_wheel">
<material>Gazebo/Black</material>
</gazebo>
<joint type = "continuous" name = "left_wheel_hinge">
<origin xyz="0 0.45 0" rpy="0 0 0"/>
<child link="left_wheel"/>
<parent link="chassis"/>
<axis xyz = "0 1 0" rpy = "0 0 0"/>
<limit effort="10000" velocity="1000"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<joint type = "continuous" name = "right_wheel_hinge">
<origin xyz="0 -0.45 0" rpy="0 0 0"/>
<child link="right_wheel"/>
<parent link="chassis"/>
<axis xyz = "0 1 0" rpy = "0 0 0"/>
<limit effort="10000" velocity="1000"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name = 'camera'>
<inertial>
<mass value="0.1"/>
<origin xyz="0.0 0 0" rpy="0 0 0"/>
<inertia
ixx="1e-6" ixy="0" ixz = "0"
iyy = "1e-6" iyz = "0"
izz = "1e-6"
/>
</inertial>
<collision name = 'camera_collision'>
<origin xyz = "0.0 0 0.0" rpy=" 0 0 0"/>
<geometry>
<box size = "0.05 0.05 0.05"/>
</geometry>
</collision>
<visual name='camera_visual'>
<origin xyz = "0.0 0 0.0" rpy=" 0 0 0"/>
<geometry>
<box size = "0.05 0.05 0.05"/>
</geometry>
<material name="yellow"/>
</visual>
</link>
<gazebo reference="camera">
<material>Gazebo/Yellow</material>
</gazebo>
<joint type = "fixed" name = "camera_joint">
<origin xyz="0.4 0 0" rpy="0 0 0"/>
<child link="camera"/>
<parent link="chassis"/>
<axis xyz = "0 1 0" rpy = "0 0 0"/>
</joint>
<!-- add the rgbd camera link and rgbd_camera_joint -->
<link name = 'rgbd_camera'>
<inertial>
<mass value="0.1"/>
<origin xyz="0.0 0 0" rpy="0 0 0"/>
<inertia
ixx="1e-6" ixy="0" ixz = "0"
iyy = "1e-6" iyz = "0"
izz = "1e-6"
/>
</inertial>
<collision name = 'rgbd_camera_collision'>
<origin xyz = "0.0 0 0.0" rpy=" 0 0 0"/>
<geometry>
<box size = "0.05 0.1 0.05"/>
</geometry>
</collision>
<visual name='rgbd_camera_visual'>
<origin xyz = "0.0 0 0.0" rpy=" 0 0 0"/>
<geometry>
<box size = "0.05 0.1 0.05"/>
</geometry>
<material name="red"/>
</visual>
</link>
<gazebo reference="rgbd_camera">
<material>Gazebo/Red</material>
</gazebo>
<joint name="rgbd_camera_joint" type="fixed">
<origin xyz="0.4 0 0.05" rpy="0 0 0"/>
<child link="rgbd_camera"/>
<parent link="chassis"/>
<axis xyz = "0 1 0" rpy = "0 0 0"/>
</joint>
<!-- add the camera optical joint for rgbd camera -->
<joint name="camera_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-1.5707 0 -1.5707"/>
<parent link="rgbd_camera"/>
<child link="camera_link_optical"/>
</joint>
<link name="camera_link_optical">
</link>
<!-- add the 2d lidar -->
<link name = 'hokuyo'>
<inertial>
<mass value="1e-5"/>
<origin xyz="0.0 0 0" rpy="0 0 0"/>
<inertia
ixx="1e-6" ixy="0" ixz = "0"
iyy = "1e-6" iyz = "0"
izz = "1e-6"
/>
</inertial>
<collision name = 'hokuyo_collision'>
<origin xyz = "0.0 0 0.0" rpy=" 0 0 0"/>
<geometry>
<box size = "0.1 0.1 0.1"/>
</geometry>
</collision>
<visual name='hokuyo_visual'>
<origin xyz = "0.0 0 0.0" rpy=" 0 0 0"/>
<geometry>
<mesh filename="package://my_robot/meshes/hokuyo.dae"/>
</geometry>
</visual>
</link>
<joint type = "fixed" name = "hokuyo_joint">
<origin xyz="0.35 0 0.1" rpy="0 0 0"/>
<child link="hokuyo"/>
<parent link="chassis"/>
<axis xyz = "0 1 0" rpy = "0 0 0"/>
</joint>
</robot>