ros_urdf_test01

rover.urdf

<robot name="robot_name">

<link name="base_link">

<visual name="">

<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>

<geometry>

<box size="0.6 1.0 0.2"/>

</geometry>

<material name="red">

<color rgba="1.0 0.0 0.0 1.0"/>

<texture filename=""/>

</material>

</visual>

</link>

<link name="wheel1_link">

<visual name="">

<origin xyz="0.35 0.35 0.0" rpy="${pi/2} 0.0 ${pi/2}"/>

<geometry>

<cylinder radius="0.15" length="0.1"/>

</geometry>

<material name="yellow">

<color rgba="1.0 1.0 0.0 1.0"/>

<texture filename=""/>

</material>

</visual>

</link>

<link name="wheel2_link">

<visual name="">

<origin xyz="-0.35 0.35 0.0" rpy="${pi/2} 0.0 ${pi/2}"/>

<geometry>

<cylinder radius="0.15" length="0.1"/>

</geometry>

<material name="yellow">

<color rgba="1.0 1.0 0.0 1.0"/>

<texture filename=""/>

</material>

</visual>

</link>

<link name="wheel3_link">

<visual name="">

<origin xyz="-0.35 -0.35 0.0" rpy="${pi/2} 0.0 ${pi/2}"/>

<geometry>

<cylinder radius="0.15" length="0.1"/>

</geometry>

<material name="yellow">

<color rgba="1.0 1.0 0.0 1.0"/>

<texture filename=""/>

</material>

</visual>

</link>

<!--

<joint name="wheel_joint" type="continuous">

<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>

<parent link="base_link"/>

<child link="wheel1_link"/>

<axis xyz="0.0 0.0 0.0"/>

</joint>

-->

<link name="wheel4_link">

<visual name="">

<origin xyz="0.35 -0.35 0.0" rpy="${pi/2} 0.0 ${pi/2}"/>

<geometry>

<cylinder radius="0.15" length="0.1"/>

</geometry>

<material name="yellow">

<color rgba="1.0 1.0 0.0 1.0"/>

<texture filename=""/>

</material>

</visual>

</link>

</robot>