mirror of
https://github.com/CopterExpress/clover.git
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53 lines
1.7 KiB
XML
53 lines
1.7 KiB
XML
<?xml version="1.0"?>
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<robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:arg name="main_camera" default="true"/>
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<xacro:arg name="rangefinder" default="true"/>
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<xacro:arg name="led" default="true"/>
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<xacro:arg name="gps" default="true"/>
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<xacro:arg name="maintain_camera_rate" default="false"/>
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<xacro:arg name="use_clover_physics" default="false"/>
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<xacro:include filename="clover4_base.xacro" />
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<xacro:include filename="../sensors/rpi_cam.urdf.xacro"/>
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<xacro:include filename="../sensors/distance_sensor.urdf.xacro"/>
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<xacro:include filename="../leds/led_strip.xacro"/>
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<!-- Create camera plugin -->
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<xacro:if value="$(arg main_camera)">
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<xacro:rpi_cam name="main_camera" parent="base_link" x="0.055" y="0.0" z="-0.03" roll="0" pitch="${pi / 2}" yaw="0" width="320" height="240" rate="40" do_throttling="$(arg maintain_camera_rate)"/>
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</xacro:if>
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<!-- Create rangefinder plugin -->
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<xacro:if value="$(arg rangefinder)">
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<xacro:distance_sensor parent="base_link" x="0.0" y="0.0" z="-0.04" roll="0" pitch="${pi / 2}" yaw="0"/>
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</xacro:if>
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<!-- Instantiate LED strip -->
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<xacro:if value="$(arg led)">
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<xacro:led_strip
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name="led"
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parent="base_link"
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radius="0.08"
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bulb_radius="0.006"
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led_count="58"
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use_plugin="true"
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z="-0.002"/>
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</xacro:if>
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<xacro:if value="$(arg gps)">
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<gazebo>
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<include>
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<uri>model://gps</uri>
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<pose>0.1 0 0 0 0 0</pose>
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<name>gps0</name>
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</include>
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<joint name='gps0_joint' type='fixed'>
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<child>gps0::link</child>
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<parent>base_link</parent>
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</joint>
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</gazebo>
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</xacro:if>
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</robot>
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