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

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:property name="M_PI" value="3.1415926535897931" />
  <xacro:include filename="$(find drz_telemax_description)/urdf/drz_telemax_flipper.urdf.xacro"/>
  <xacro:include filename="$(find drz_telemax_description)/urdf/drz_telemax_base.gazebo.xacro"/>
  <xacro:include filename="$(find hector_xacro_tools)/urdf/inertia_tensors.urdf.xacro" />

  <xacro:property name="telemax_chassis_width" value="0.27" />
  <xacro:property name="telemax_chassis_length" value="0.65" />
  <xacro:property name="telemax_chassis_height" value="0.2" />

  <xacro:property name="telemax_flipper_x_offset" value="0.205"/>
  <xacro:property name="telemax_flipper_y_offset" value="0.17"/>
  <xacro:property name="telemax_flipper_z_offset" value="0.085"/>
  <xacro:macro name="telemax_base">
    <link name="base_link"/>

    <joint name="chassis_joint" type="fixed">
      <origin xyz="0 0 0" rpy="0 0 0" />
      <parent link="base_link"/>
      <child link="chassis_link" />
    </joint>

    <!-- robot chassis link -->
    <link name="chassis_link">
      <xacro:inertial_cuboid_with_pose mass="40" x_length="${telemax_chassis_length}" y_length="${telemax_chassis_width}" z_length="${telemax_chassis_height}" >
        <origin xyz="0 0 0.05" rpy="0 0 0"/>
      </xacro:inertial_cuboid_with_pose>

      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://drz_telemax_description/meshes/maxpro_chassis.dae" scale="0.001 0.001 0.001"/>
        </geometry>
      </visual>
      
      <visual>
        <origin xyz="-0.125 0.0 0.225" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://drz_telemax_description/meshes/battery.dae" scale="0.001 0.001 0.001"/>
        </geometry>
      </visual>

      <collision>
        <origin xyz="0 0 0.105" rpy="0 0 0"/>
        <geometry>
          <box size="${telemax_chassis_length} ${telemax_chassis_width} ${telemax_chassis_height}"/>
        </geometry>
      </collision>
    </link>

    <xacro:telemax_flipper name="flipper_front_left" parent="chassis_link" front="1" left="1">
      <origin xyz="${telemax_flipper_x_offset} ${telemax_flipper_y_offset} ${telemax_flipper_z_offset}" rpy="0 0 0"/>
    </xacro:telemax_flipper>
    <xacro:telemax_flipper name="flipper_front_right" parent="chassis_link" front="1" left="-1">
      <origin xyz="${telemax_flipper_x_offset} ${-1 * telemax_flipper_y_offset} ${telemax_flipper_z_offset}" rpy="0 0 0"/>
    </xacro:telemax_flipper>
    <xacro:telemax_flipper name="flipper_back_left" parent="chassis_link" front="-1" left="1">
      <origin xyz="${-1 * telemax_flipper_x_offset} ${telemax_flipper_y_offset} ${telemax_flipper_z_offset}" rpy="0 0 ${M_PI}"/>
    </xacro:telemax_flipper>
    <xacro:telemax_flipper name="flipper_back_right" parent="chassis_link" front="-1" left="-1">
      <origin xyz="${-1 * telemax_flipper_x_offset} ${-1 * telemax_flipper_y_offset} ${telemax_flipper_z_offset}" rpy="0 0 ${M_PI}"/>
    </xacro:telemax_flipper>

    <!-- Gazebo plugins -->
    <xacro:telemax_base_gazebo_plugins/>
    <xacro:tracked_vehicle_gazebo_plugin tracks_separation="${2* telemax_flipper_y_offset}"/>
    <xacro:gazebo_ros_control_plugin/>
  </xacro:macro>

</robot>