4_wheel_double_microscan_config.urdf.xacro

<?xml version='1.0'?>

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Copyright (c) 2022
KELO Robotics GmbH

Author:
Sushant Chavan
Leonardo Tan


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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="4_wheel_double_microscan_config" >

    <xacro:arg name="movable_joints" default="true"/>

    <!-- Include desired robile bricks -->
    <xacro:include filename="$(find robile_description)/urdf/robile_bricks/robile_active_wheel_brick.urdf.xacro" />
    <xacro:include filename="$(find robile_description)/urdf/robile_bricks/robile_cpu_brick.urdf.xacro" />
    <xacro:include filename="$(find robile_description)/urdf/robile_bricks/robile_master_battery_brick.urdf.xacro" />
    <xacro:include filename="$(find robile_description)/urdf/sensors/micro_scan.urdf.xacro" />

    <link name="base_link"/>

    <!-- Build platform using robile bricks -->
    <xacro:robile_active_wheel_brick name="robile_1" parent="base_link" movable_joints="$(arg movable_joints)">
        <origin xyz="0.233 0.1165 0.05" rpy="0.0 0.0 0.0"/>
    </xacro:robile_active_wheel_brick>

    <xacro:robile_active_wheel_brick name="robile_2" parent="base_link" movable_joints="$(arg movable_joints)">
        <origin xyz="0.233 -0.1165 0.05" rpy="0.0 0.0 0.0"/>
    </xacro:robile_active_wheel_brick>

    <xacro:robile_cpu_brick name="robile_3" parent="base_link">
        <origin xyz="0.0 0.1165 0.05" rpy="0.0 0.0 0.0"/>
    </xacro:robile_cpu_brick>

    <xacro:robile_master_battery_brick name="robile_4" parent="base_link">
        <origin xyz="0.0 -0.1165 0.05" rpy="0.0 0.0 0.0"/>
    </xacro:robile_master_battery_brick>

    <xacro:robile_active_wheel_brick name="robile_5" parent="base_link" movable_joints="$(arg movable_joints)">
        <origin xyz="-0.233 0.1165 0.05" rpy="0.0 0.0 0.0"/>
    </xacro:robile_active_wheel_brick>

    <xacro:robile_active_wheel_brick name="robile_6" parent="base_link" movable_joints="$(arg movable_joints)">
        <origin xyz="-0.233 -0.1165 0.05" rpy="0.0 0.0 0.0"/>
    </xacro:robile_active_wheel_brick>
    
    <xacro:sick_microscan3 name="scanner_1" parent="base_link" ros_topic="scanner_1/scan_filtered">
        <!--<origin xyz="0.360 0 0.181" rpy="3.14 0 0" />--> 
        <origin xyz="0.400 -0.282 0.223" rpy="3.14 0 -0.79" /> <!-- Scanners on the side -->
    </xacro:sick_microscan3>

    <xacro:sick_microscan3 name="scanner_2" parent="base_link" ros_topic="scanner_2/scan_filtered">
        <!--<origin xyz="-0.360 0 0.181" rpy="3.14 0 3.14" />-->
        <origin xyz="-0.400 0.282 0.223" rpy="3.14 0 2.35" /> <!-- Scanners on the side -->
    </xacro:sick_microscan3>

</robot>