Thesis-Hector-VR/Hector_v2/Assets/Telemax/drz_telemax_description/urdf/drz_telemax_autonomy_box.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="autonomy_box">
  <xacro:property name="M_PI" value="3.1415926535897931" />
  <!--<xacro:include filename="$(find hector_components_description)/urdf/vlp16_mount.urdf.xacro.xml"/>-->
  <xacro:include filename="$(find drz_telemax_description)/urdf/drz_telemax_navigation_module.urdf.xacro"/>
  <xacro:property name="autonomy_box_length" value="0.353"/>
  <xacro:property name="autonomy_box_width" value="0.24"/>
  <xacro:property name="autonomy_box_height" value="0.11"/>

  <xacro:macro name="autonomy_box" params="parent name scaling *origin">
    <joint name="${name}_joint_fixed" type="fixed">
      <xacro:insert_block name="origin"/>
      <parent link="${parent}"/>
      <child link="${name}_link"/>
    </joint>

    <link name="${name}_link">
        <origin xyz="0 0 0" rpy="0 0 0"/>
          <visual>
            <origin xyz="0 0 ${-autonomy_box_height/2}" rpy="${-M_PI/2} 0 ${M_PI}"/>
            <geometry>
              <mesh filename="package://drz_telemax_description/meshes/autonomy_box.dae" scale="0.001 0.001 0.001"/>
            </geometry>
          </visual>
        <collision>
          <origin xyz="0 0 0" rpy="0 0 0"/>
          <geometry>
            <box size="${autonomy_box_length} ${autonomy_box_width} ${autonomy_box_height}"/>
          </geometry>
        </collision>
    </link>

    <joint name="imu_link_joint" type="fixed">
      <origin xyz="0.04 0.04 0.08" rpy="0 0 0"/>
      <parent link="${name}_link" />
      <child link="imu_link"/>
    </joint>

    <link name="imu_link">
    </link>

    <xacro:navigation_module parent="${name}_link" name="navigation_module" scaling="0.001">
      <origin xyz="${-autonomy_box_length/2 - 0.008 + navigation_module_length/2} 0 ${autonomy_box_height/2 + 0.011 - navigation_module_height/2}" rpy="0 0 0"/>
    </xacro:navigation_module>
  </xacro:macro>
</robot>