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  1. <?xml version="1.0" encoding="utf-8"?>
  2. <!-- =================================================================================== -->
  3. <!-- |    This document was autogenerated by xacro from last_mile_robot.xacro          | -->
  4. <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
  5. <!-- =================================================================================== -->
  6. <!-- Last Mile Delivery Robot - JKU -->
  7. <robot name="Last_Mile_Robot">
  8.   <material name="black">
  9.     <color rgba="0.0 0.0 0.0 1.0"/>
  10.   </material>
  11.   <material name="blue">
  12.     <color rgba="0.0 0.0 0.8 1.0"/>
  13.   </material>
  14.   <material name="green">
  15.     <color rgba="0.0 0.8 0.0 1.0"/>
  16.   </material>
  17.   <material name="gray">
  18.     <color rgba="0.7 0.7 0.7 1.0"/>
  19.   </material>
  20.   <material name="darkgray">
  21.     <color rgba="0.3 0.3 0.3 1.0"/>
  22.   </material>
  23.   <material name="red">
  24.     <color rgba="0.8 0.0 0.0 1.0"/>
  25.   </material>
  26.   <material name="brown">
  27.     <color rgba="0.59 0.29 0 1.0"/>
  28.   </material>
  29.   <material name="white">
  30.     <color rgba="1.0 1.0 1.0 1.0"/>
  31.   </material>
  32.   <material name="yellow">
  33.     <color rgba="0.8 0.8 0.0 1.0"/>
  34.   </material>
  35.   <!-- Colours -->
  36.   <gazebo reference="chassis">
  37.     <material>Gazebo/Wood</material>
  38.   </gazebo>
  39.   <gazebo reference="front_right">
  40.     <material>Gazebo/Grey</material>
  41.   </gazebo>
  42.   <gazebo reference="front_left">
  43.     <material>Gazebo/Grey</material>
  44.   </gazebo>
  45.   <gazebo reference="rear_right">
  46.     <material>Gazebo/Grey</material>
  47.   </gazebo>
  48.   <gazebo reference="rear_left">
  49.     <material>Gazebo/Grey</material>
  50.   </gazebo>
  51.   <gazebo reference="front_right_ext">
  52.     <material>Gazebo/Grey</material>
  53.   </gazebo>
  54.   <gazebo reference="front_left_ext">
  55.     <material>Gazebo/Grey</material>
  56.   </gazebo>
  57.   <gazebo reference="rear_right_ext">
  58.     <material>Gazebo/Grey</material>
  59.   </gazebo>
  60.   <gazebo reference="rear_left_ext">
  61.     <material>Gazebo/Grey</material>
  62.   </gazebo>
  63.   <gazebo reference="front_right_ext2">
  64.     <material>Gazebo/Yellow</material>
  65.   </gazebo>
  66.   <gazebo reference="front_left_ext2">
  67.     <material>Gazebo/Yellow</material>
  68.   </gazebo>
  69.   <gazebo reference="rear_right_ext2">
  70.     <material>Gazebo/Yellow</material>
  71.   </gazebo>
  72.   <gazebo reference="rear_left_ext2">
  73.     <material>Gazebo/Yellow</material>
  74.   </gazebo>
  75.   <gazebo reference="front_right_wheel">
  76.     <material>Gazebo/FlatBlack</material>
  77.   </gazebo>
  78.   <gazebo reference="front_left_wheel">
  79.     <material>Gazebo/FlatBlack</material>
  80.   </gazebo>
  81.   <gazebo reference="rear_right_wheel">
  82.     <material>Gazebo/FlatBlack</material>
  83.   </gazebo>
  84.   <gazebo reference="rear_left_wheel">
  85.     <material>Gazebo/FlatBlack</material>
  86.   </gazebo>
  87.   <!-- Controllers -->
  88.   <gazebo>
  89.     <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control"/>
  90.   </gazebo>
  91.   <gazebo>
  92.     <plugin filename="libgazebo_ros_synchronous_drive.so" name="synchronous_drive_controller">
  93.       <rosDebugLevel>Debug</rosDebugLevel>
  94.       <tfPrefix/>
  95.       <velocityTopic>cmd_vel</velocityTopic>
  96.       <odometryTopic>odom</odometryTopic>
  97.       <odometryFrame>odom</odometryFrame>
  98.       <robotBaseFrame>base_link</robotBaseFrame>
  99.       <updateRate>20.0</updateRate>
  100.       <wheelSeparation>1.237</wheelSeparation>
  101.       <wheelDiameter>0.42</wheelDiameter>
  102.       <wheelTorque>200</wheelTorque>
  103.       <wheelAcceleration>200</wheelAcceleration>
  104.       <publishWheelTF>true</publishWheelTF>
  105.       <publishOdomTF>true</publishOdomTF>
  106.       <publishWheelJointState>true</publishWheelJointState>
  107.       <odometrySource>world</odometrySource>
  108.       <!-- world or encoder -->
  109.       <leftFrontJoint>front_left_wheel_hinge</leftFrontJoint>
  110.       <rightFrontJoint>front_right_wheel_hinge</rightFrontJoint>
  111.       <leftRearJoint>rear_left_wheel_hinge</leftRearJoint>
  112.       <rightRearJoint>rear_right_wheel_hinge</rightRearJoint>
  113.       <turnTorque>200</turnTorque>
  114.       <leftFrontTurnJoint>front_left_hinge</leftFrontTurnJoint>
  115.       <rightFrontTurnJoint>front_right_hinge</rightFrontTurnJoint>
  116.       <leftRearTurnJoint>rear_left_hinge</leftRearTurnJoint>
  117.       <rightRearTurnJoint>rear_right_hinge</rightRearTurnJoint>
  118.       <publishTf>1</publishTf>
  119.     </plugin>
  120.   </gazebo>
  121.   <link name="base_link"/>
  122.   <link name="chassis">
  123.     <collision>
  124.       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  125.       <geometry>
  126.         <box size=".65 .65 .05"/>
  127.       </geometry>
  128.     </collision>
  129.     <visual>
  130.       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  131.       <geometry>
  132.         <box size=".65 .65 .05"/>
  133.       </geometry>
  134.       <material name="brown"/>
  135.     </visual>
  136.     <inertial>
  137.       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  138.       <mass value="150"/>
  139.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  140.     </inertial>
  141.   </link>
  142.   <joint name="chassis_joint" type="fixed">
  143.     <origin xyz="0.0 0.0 0.75"/>
  144.     <parent link="base_link"/>
  145.     <child link="chassis"/>
  146.   </joint>
  147.   <!-- bis hier ists ok -->
  148.   <link name="front_right">
  149.     <collision>
  150.       <geometry>
  151.         <cylinder length="0.55" radius="0.05"/>
  152.       </geometry>
  153.     </collision>
  154.     <visual>
  155.       <geometry>
  156.         <cylinder length="0.55" radius="0.05"/>
  157.       </geometry>
  158.       <material name="gray"/>
  159.     </visual>
  160.     <inertial>
  161.       <mass value="1"/>
  162.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  163.     </inertial>
  164.   </link>
  165.   <joint name="front_right_hinge" type="continuous">
  166.     <!--continuous-->
  167.     <parent link="chassis"/>
  168.     <child link="front_right"/>
  169.     <axis xyz="0 0 1"/>
  170.     <origin rpy="0.0 0.0 0.0" xyz="0.325 -0.325 -0.30"/>
  171.     <limit effort="0.1" velocity="0.1"/>
  172.   </joint>
  173.   <link name="front_left">
  174.     <collision>
  175.       <geometry>
  176.         <cylinder length="0.55" radius="0.05"/>
  177.       </geometry>
  178.     </collision>
  179.     <visual>
  180.       <geometry>
  181.         <cylinder length="0.55" radius="0.05"/>
  182.       </geometry>
  183.       <material name="gray"/>
  184.     </visual>
  185.     <inertial>
  186.       <mass value="1"/>
  187.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  188.     </inertial>
  189.   </link>
  190.   <joint name="front_left_hinge" type="continuous">
  191.     <!--continuous-->
  192.     <parent link="chassis"/>
  193.     <child link="front_left"/>
  194.     <axis xyz="0 0 1"/>
  195.     <origin xyz="0.325 0.325 -0.30"/>
  196.     <limit effort="0.1" velocity="0.1"/>
  197.   </joint>
  198.   <link name="rear_right">
  199.     <collision>
  200.       <geometry>
  201.         <cylinder length="0.55" radius="0.05"/>
  202.       </geometry>
  203.     </collision>
  204.     <visual>
  205.       <geometry>
  206.         <cylinder length="0.55" radius="0.05"/>
  207.       </geometry>
  208.       <material name="gray"/>
  209.     </visual>
  210.     <inertial>
  211.       <mass value="1"/>
  212.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  213.     </inertial>
  214.   </link>
  215.   <joint name="rear_right_hinge" type="fixed">
  216.     <!--continuous-->
  217.     <parent link="chassis"/>
  218.     <child link="rear_right"/>
  219.     <axis xyz="0 0 1"/>
  220.     <origin xyz="-0.325 -0.325 -0.30"/>
  221.   </joint>
  222.   <link name="rear_left">
  223.     <collision>
  224.       <geometry>
  225.         <cylinder length="0.55" radius="0.05"/>
  226.       </geometry>
  227.     </collision>
  228.     <visual>
  229.       <geometry>
  230.         <cylinder length="0.55" radius="0.05"/>
  231.       </geometry>
  232.       <material name="gray"/>
  233.     </visual>
  234.     <inertial>
  235.       <mass value="1"/>
  236.       <inertia ixx="10.0" ixy="0.0" ixz="0.0" iyy="10.0" iyz="0.0" izz="10.0"/>
  237.     </inertial>
  238.   </link>
  239.   <joint name="rear_left_hinge" type="fixed">
  240.     <!--continuous-->
  241.     <parent link="chassis"/>
  242.     <child link="rear_left"/>
  243.     <axis xyz="0 0 1"/>
  244.     <origin xyz="-0.325 0.325 -0.30"/>
  245.   </joint>
  246.   <link name="front_right_tilt"/>
  247.   <joint name="front_right_tilt_joint" type="fixed">
  248.     <origin rpy="0.785398163397 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>
  249.     <parent link="front_right"/>
  250.     <child link="front_right_tilt"/>
  251.   </joint>
  252.   <link name="front_right_ext">
  253.     <collision name="front_right_ext_collision">
  254.       <geometry>
  255.         <cylinder length="0.4" radius="0.05"/>
  256.       </geometry>
  257.     </collision>
  258.     <visual>
  259.       <geometry>
  260.         <cylinder length="0.4" radius="0.05"/>
  261.       </geometry>
  262.       <material name="gray"/>
  263.     </visual>
  264.     <inertial>
  265.       <mass value="1"/>
  266.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  267.     </inertial>
  268.   </link>
  269.   <joint name="front_right_ext_hinge" type="fixed">
  270.     <origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225 "/>
  271.     <parent link="front_right_tilt"/>
  272.     <child link="front_right_ext"/>
  273.     <axis xyz="0 0 0"/>
  274.   </joint>
  275.   <link name="front_right_tilt2"/>
  276.   <joint name="front_right_tilt2_joint" type="fixed">
  277.     <origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>
  278.     <parent link="front_right_ext"/>
  279.     <child link="front_right_tilt2"/>
  280.   </joint>
  281.   <link name="front_right_ext2">
  282.     <collision name="front_right_ext2_collision">
  283.       <geometry>
  284.         <cylinder length="0.4" radius="0.05"/>
  285.       </geometry>
  286.     </collision>
  287.     <visual>
  288.       <geometry>
  289.         <cylinder length="0.4" radius="0.05"/>
  290.       </geometry>
  291.       <material name="yellow"/>
  292.     </visual>
  293.     <inertial>
  294.       <mass value="1"/>
  295.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  296.     </inertial>
  297.   </link>
  298.   <joint name="front_right_ext2_joint" type="fixed">
  299.     <origin rpy="0 0 0.785398163397" xyz="0.0 0.0 -0.16"/>
  300.     <parent link="front_right_tilt2"/>
  301.     <child link="front_right_ext2"/>
  302.     <axis xyz="0 0 1"/>
  303.   </joint>
  304.   <link name="front_right_wheel">
  305.     <collision name="front_right_wheel_collision">
  306.       <geometry>
  307.         <cylinder length="0.15" radius="0.21"/>
  308.       </geometry>
  309.     </collision>
  310.     <visual>
  311.       <geometry>
  312.         <cylinder length="0.15" radius="0.21"/>
  313.       </geometry>
  314.       <material name="black"/>
  315.     </visual>
  316.     <inertial>
  317.       <mass value="1"/>
  318.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  319.     </inertial>
  320.   </link>
  321.   <joint name="front_right_wheel_hinge" type="continuous">
  322.     <origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>
  323.     <parent link="front_right_ext2"/>
  324.     <child link="front_right_wheel"/>
  325.     <axis xyz="0 0 1"/>
  326.   </joint>
  327.   <link name="front_left_tilt"/>
  328.   <joint name="front_left_tilt_joint" type="fixed">
  329.     <origin rpy="-0.785398163397 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>
  330.     <parent link="front_left"/>
  331.     <child link="front_left_tilt"/>
  332.   </joint>
  333.   <link name="front_left_ext">
  334.     <collision name="front_left_ext_collision">
  335.       <geometry>
  336.         <cylinder length="0.4" radius="0.05"/>
  337.       </geometry>
  338.     </collision>
  339.     <visual>
  340.       <geometry>
  341.         <cylinder length="0.4" radius="0.05"/>
  342.       </geometry>
  343.       <material name="gray"/>
  344.     </visual>
  345.     <inertial>
  346.       <mass value="1"/>
  347.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  348.     </inertial>
  349.   </link>
  350.   <joint name="front_left_ext_hinge" type="fixed">
  351.     <origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>
  352.     <parent link="front_left_tilt"/>
  353.     <child link="front_left_ext"/>
  354.     <axis xyz="0 0 0"/>
  355.   </joint>
  356.   <link name="front_left_tilt2"/>
  357.   <joint name="front_left_tilt2_joint" type="fixed">
  358.     <origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>
  359.     <parent link="front_left_ext"/>
  360.     <child link="front_left_tilt2"/>
  361.   </joint>
  362.   <link name="front_left_ext2">
  363.     <collision name="front_left_ext2_collision">
  364.       <geometry>
  365.         <cylinder length="0.4" radius="0.05"/>
  366.       </geometry>
  367.     </collision>
  368.     <visual>
  369.       <geometry>
  370.         <cylinder length="0.4" radius="0.05"/>
  371.       </geometry>
  372.       <material name="yellow"/>
  373.     </visual>
  374.     <inertial>
  375.       <mass value="1"/>
  376.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  377.     </inertial>
  378.   </link>
  379.   <joint name="front_left_ext2_joint" type="fixed">
  380.     <origin rpy="0 0 -0.785398163397" xyz="0.0 0.0 -0.16"/>
  381.     <parent link="front_left_tilt2"/>
  382.     <child link="front_left_ext2"/>
  383.     <axis xyz="0 0 1"/>
  384.   </joint>
  385.   <link name="front_left_wheel">
  386.     <collision name="front_left_wheel_collision">
  387.       <geometry>
  388.         <cylinder length="0.15" radius="0.21"/>
  389.       </geometry>
  390.     </collision>
  391.     <visual>
  392.       <geometry>
  393.         <cylinder length="0.15" radius="0.21"/>
  394.       </geometry>
  395.       <material name="black"/>
  396.     </visual>
  397.     <inertial>
  398.       <mass value="1"/>
  399.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  400.     </inertial>
  401.   </link>
  402.   <joint name="front_left_wheel_hinge" type="continuous">
  403.     <origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>
  404.     <parent link="front_left_ext2"/>
  405.     <child link="front_left_wheel"/>
  406.     <axis xyz="0 0 1"/>
  407.   </joint>
  408.   <link name="rear_right_tilt"/>
  409.   <joint name="rear_right_tilt_joint" type="fixed">
  410.     <origin rpy="2.35619449019 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>
  411.     <parent link="rear_right"/>
  412.     <child link="rear_right_tilt"/>
  413.   </joint>
  414.   <link name="rear_right_ext">
  415.     <collision name="rear_right_ext_collision">
  416.       <geometry>
  417.         <cylinder length="0.4" radius="0.05"/>
  418.       </geometry>
  419.     </collision>
  420.     <visual>
  421.       <geometry>
  422.         <cylinder length="0.4" radius="0.05"/>
  423.       </geometry>
  424.       <material name="gray"/>
  425.     </visual>
  426.     <inertial>
  427.       <mass value="1"/>
  428.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  429.     </inertial>
  430.   </link>
  431.   <joint name="rear_right_ext_hinge" type="fixed">
  432.     <origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>
  433.     <parent link="rear_right_tilt"/>
  434.     <child link="rear_right_ext"/>
  435.     <axis xyz="0 0 0"/>
  436.   </joint>
  437.   <link name="rear_right_tilt2"/>
  438.   <joint name="rear_right_tilt2_joint" type="fixed">
  439.     <origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>
  440.     <parent link="rear_right_ext"/>
  441.     <child link="rear_right_tilt2"/>
  442.   </joint>
  443.   <link name="rear_right_ext2">
  444.     <collision name="rear_right_ext2_collision">
  445.       <geometry>
  446.         <cylinder length="0.4" radius="0.05"/>
  447.       </geometry>
  448.     </collision>
  449.     <visual>
  450.       <geometry>
  451.         <cylinder length="0.4" radius="0.05"/>
  452.       </geometry>
  453.       <material name="yellow"/>
  454.     </visual>
  455.     <inertial>
  456.       <mass value="1"/>
  457.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  458.     </inertial>
  459.   </link>
  460.   <joint name="rear_right_ext2_joint" type="fixed">
  461.     <origin rpy="0 0 2.35619449019" xyz="0.0 0.0 -0.16"/>
  462.     <parent link="rear_right_tilt2"/>
  463.     <child link="rear_right_ext2"/>
  464.     <axis xyz="0 0 1"/>
  465.   </joint>
  466.   <link name="rear_right_wheel">
  467.     <collision name="rear_right_wheel_collision">
  468.       <geometry>
  469.         <cylinder length="0.15" radius="0.21"/>
  470.       </geometry>
  471.     </collision>
  472.     <visual>
  473.       <geometry>
  474.         <cylinder length="0.15" radius="0.21"/>
  475.       </geometry>
  476.       <material name="black"/>
  477.     </visual>
  478.     <inertial>
  479.       <mass value="1"/>
  480.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  481.     </inertial>
  482.   </link>
  483.   <joint name="rear_right_wheel_hinge" type="continuous">
  484.     <origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>
  485.     <parent link="rear_right_ext2"/>
  486.     <child link="rear_right_wheel"/>
  487.     <axis xyz="0 0 1"/>
  488.   </joint>
  489.   <link name="rear_left_tilt"/>
  490.   <joint name="rear_left_tilt_joint" type="fixed">
  491.     <origin rpy="-2.35619449019 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>
  492.     <parent link="rear_left"/>
  493.     <child link="rear_left_tilt"/>
  494.   </joint>
  495.   <link name="rear_left_ext">
  496.     <collision name="rear_left_ext_collision">
  497.       <geometry>
  498.         <cylinder length="0.4" radius="0.05"/>
  499.       </geometry>
  500.     </collision>
  501.     <visual>
  502.       <geometry>
  503.         <cylinder length="0.4" radius="0.05"/>
  504.       </geometry>
  505.       <material name="gray"/>
  506.     </visual>
  507.     <inertial>
  508.       <mass value="1"/>
  509.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  510.     </inertial>
  511.   </link>
  512.   <joint name="rear_left_ext_hinge" type="fixed">
  513.     <origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>
  514.     <parent link="rear_left_tilt"/>
  515.     <child link="rear_left_ext"/>
  516.     <axis xyz="0 0 0"/>
  517.   </joint>
  518.   <link name="rear_left_tilt2"/>
  519.   <joint name="rear_left_tilt2_joint" type="fixed">
  520.     <origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>
  521.     <parent link="rear_left_ext"/>
  522.     <child link="rear_left_tilt2"/>
  523.   </joint>
  524.   <link name="rear_left_ext2">
  525.     <collision name="rear_left_ext2_collision">
  526.       <geometry>
  527.         <cylinder length="0.4" radius="0.05"/>
  528.       </geometry>
  529.     </collision>
  530.     <visual>
  531.       <geometry>
  532.         <cylinder length="0.4" radius="0.05"/>
  533.       </geometry>
  534.       <material name="yellow"/>
  535.     </visual>
  536.     <inertial>
  537.       <mass value="1"/>
  538.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  539.     </inertial>
  540.   </link>
  541.   <joint name="rear_left_ext2_joint" type="fixed">
  542.     <origin rpy="0 0 -2.35619449019" xyz="0.0 0.0 -0.16"/>
  543.     <parent link="rear_left_tilt2"/>
  544.     <child link="rear_left_ext2"/>
  545.     <axis xyz="0 0 1"/>
  546.   </joint>
  547.   <link name="rear_left_wheel">
  548.     <collision name="rear_left_wheel_collision">
  549.       <geometry>
  550.         <cylinder length="0.15" radius="0.21"/>
  551.       </geometry>
  552.     </collision>
  553.     <visual>
  554.       <geometry>
  555.         <cylinder length="0.15" radius="0.21"/>
  556.       </geometry>
  557.       <material name="black"/>
  558.     </visual>
  559.     <inertial>
  560.       <mass value="1"/>
  561.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  562.     </inertial>
  563.   </link>
  564.   <joint name="rear_left_wheel_hinge" type="continuous">
  565.     <origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>
  566.     <parent link="rear_left_ext2"/>
  567.     <child link="rear_left_wheel"/>
  568.     <axis xyz="0 0 1"/>
  569.   </joint>
  570. </robot>
  571.  
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