86 lines
2.2 KiB
Plaintext
86 lines
2.2 KiB
Plaintext
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<!--
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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="google_cartographer">
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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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<material name="green">
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<color rgba="0.2 0.4 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="0.01 0.01 -0.01"/>
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<geometry>
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<box size="0.055 0.055 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_laser_link">
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<visual>
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<origin xyz="0.0 0.0 -0.01"/>
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<geometry>
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<cylinder length="0.09" radius="0.03"/>
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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_laser_link">
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<visual>
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<origin xyz="0.0 0.0 -0.01"/>
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<geometry>
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<cylinder length="0.09" radius="0.03"/>
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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_footprint">
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<visual>
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<origin xyz="0.18 0.0 0.2"/>
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<geometry>
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<box size="0.03 0.4 0.8"/>
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</geometry>
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<material name="green"/>
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</visual>
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</link>
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<joint name="base_link_joint" type="fixed">
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<child link="/imu_link"/>
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<parent link="/base_footprint"/>
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<origin xyz="0 0 0" rpy="0 0 3.1416"/>
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</joint>
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<joint name="horizontal_laser_link_joint" type="fixed">
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<parent link="/imu_link"/>
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<child link="/horizontal_laser_link"/>
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<origin xyz="0.1251 0.0937 0.05262"/>
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</joint>
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<joint name="vertical_laser_link_joint" type="fixed">
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<parent link="/imu_link"/>
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<child link="/vertical_laser_link"/>
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<origin rpy="0.0 -1.57 3.14" xyz="0.1251 0.0937 0.17772"/>
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</joint>
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</robot>
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