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robot.urdf
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<?xml version="1.0"?>
<robot name="robot">
<link name="base_footprint"/>
<link name="base_link">
<visual name="">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.8 0.7 0.1" />
</geometry>
<material name="">
<color rgba="1.0 0.0 0.0 1.0"/>
</material>
</visual>
</link>
<joint name="base_joint" type="fixed">
<origin xyz="0.0 0.0 0.135" rpy="0.0 0.0 0.0"/>
<parent link="base_footprint"/>
<child link="base_link"/>
<axis xyz="0.0 0.0 0.0"/>
</joint>
<link name="wheel_rear_right_link">
<visual name="">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="0.15" length="0.1"/>
</geometry>
<material name="">
<color rgba="0.0 1.0 0.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="0.15" length="0.1"/>
</geometry>
</collision>
</link>
<joint name="wheel_rear_right_joint" type="continuous">
<origin xyz="0.25 0.4 0.0" rpy="1.57 0.0 0.0"/>
<parent link="base_link"/>
<child link="wheel_rear_right_link"/>
<axis xyz="0.0 0.0 1.0"/>
</joint>
<link name="wheel_rear_left_link">
<visual name="">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="0.15" length="0.1"/>
</geometry>
<material name="">
<color rgba="0.0 1.0 0.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="0.15" length="0.1"/>
</geometry>
</collision>
</link>
<joint name="wheel_rear_left_joint" type="continuous">
<origin xyz="0.25 -0.4 0.0" rpy="1.57 0.0 0.0"/>
<parent link="base_link"/>
<child link="wheel_rear_left_link"/>
<axis xyz="0.0 0.0 1.0"/>
</joint>
<link name="wheel_front_right_link">
<visual name="">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="0.15" length="0.1"/>
</geometry>
<material name="">
<color rgba="0.0 1.0 0.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="0.15" length="0.1"/>
</geometry>
</collision>
</link>
<joint name="wheel_front_right_joint" type="continuous">
<origin xyz="-0.25 0.4 0.0" rpy="1.57 0.0 0.0"/>
<parent link="base_link"/>
<child link="wheel_front_right_link"/>
<axis xyz="0.0 0.0 1.0"/>
</joint>
<link name="wheel_front_left_link">
<visual name="">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="0.15" length="0.1"/>
</geometry>
<material name="">
<color rgba="0.0 1.0 0.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="0.15" length="0.1"/>
</geometry>
</collision>
</link>
<joint name="wheel_front_left_joint" type="continuous">
<origin xyz="-0.25 -0.4 0.0" rpy="1.57 0.0 0.0"/>
<parent link="base_link"/>
<child link="wheel_front_left_link"/>
<axis xyz="0.0 0.0 1.0"/>
</joint>
</robot>