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- <?xml version="1.0"?>
- <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="autonomy_box_on_table">
- <xacro:include filename="$(find hector_components_description)/urdf/autonomy_box.urdf.xacro"/>
- <xacro:include filename="$(find hector_tracked_vehicles_description)/calibrations/spin_lidar_calibration.urdf.xacro"/>
- <link name="base_link" />
- <joint name="base_joint" type="fixed">
- <parent link="base_link"/>
- <child link="table_link"/>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- </joint>
- <link name="table_link">
- <visual>
- <origin xyz="0.0 0.4 0.0" rpy="${0.5*pi} 0 0"/>
- <geometry>
- <mesh filename="package://hector_components_description/meshes/table/table.dae"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0.0 0.0 -0.0125" rpy="0 0 0"/>
- <geometry>
- <box size="0.8 0.8 0.025"/>
- </geometry>
- </collision>
- <collision>
- <origin xyz="0.0 0.0 -0.3325" rpy="0 0 0"/>
- <geometry>
- <cylinder length="0.64" radius="0.07"/>
- </geometry>
- </collision>
- <collision>
- <origin xyz="0.0 0.0 -0.62" rpy="0 0 0"/>
- <geometry>
- <box size="0.8 0.8 0.2"/>
- </geometry>
- </collision>
- <collision>
- <origin xyz="-0.9 0.0 0.2" rpy="0 0 0"/>
- <geometry>
- <box size="1.0 1.0 2.0"/>
- </geometry>
- </collision>
- </link>
- <xacro:autonomy_box_macro parent="table_link" alu_profile_collision_size_factor="1.05" name="autonomy_box" add_chilitags="false">
- <origin xyz="0.255 0.0 0.005" rpy="0 0 0"/>
- </xacro:autonomy_box_macro>
- </robot>
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