gazebo机器人文件

机器人模型,有GPS和lidar.

<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">

    <xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" />
    <xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/lidar_gazebo.xacro" />
    <xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/gps_gazebo.xacro" />

    <xacro:property name="lidar_offset_x" value="0.15" />
    <xacro:property name="lidar_offset_y" value="0" />
    <xacro:property name="lidar_offset_z" value="0.105" />


    <!-- lidar -->
    <joint name="lidar_joint" type="fixed">
        <origin xyz="${lidar_offset_x} ${lidar_offset_y} ${lidar_offset_z}" rpy="0 0 0" />
        <parent link="base_link"/>
        <child link="laser_link"/>
    </joint>

    <xacro:rplidar prefix="laser"/>
    <xacro:gps prefix="gps"/>
    <mbot_base_gazebo/>
    

</robot>

来源：CSDN

作者：zzmog

链接：https://blog.csdn.net/zzmog/article/details/103486722