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velodyne.urdf.xacro
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velodyne.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="example">
<xacro:arg name="gpu" default="false"/>
<xacro:property name="gpu" value="$(arg gpu)" />
<!-- Base Footprint -->
<link name="base_footprint" />
<!-- Base Link -->
<joint name="footprint" type="fixed" >
<parent link="base_footprint" />
<child link="base_link" />
<origin xyz="0 0 0.05" rpy="0 0 0" />
</joint>
<link name="base_link" >
<!-- <visual> -->
<!-- <geometry> -->
<!-- <box size="0.1 0.1 0.1" /> -->
<!-- </geometry> -->
<!-- </visual> -->
<!-- <collision> -->
<!-- <geometry> -->
<!-- <box size="0.1 0.1 0.1" /> -->
<!-- </geometry> -->
<!-- </collision> -->
<!-- <inertial> -->
<!-- <origin xyz="0 0 0"/> -->
<!-- <mass value="10"/> -->
<!-- <inertia ixx="3.0" ixy="0.0" ixz="0.0" -->
<!-- iyy="3.0" iyz="0.0" -->
<!-- izz="3.0" /> -->
<!-- </inertial> -->
</link>
<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<VLP-16 parent="base_link" name="velodyne" topic="/velodyne_points" hz="10" samples="440" gpu="${gpu}">
<origin xyz="0 0 0.05" rpy="0 0 0" />
</VLP-16>
</robot>