Robotics-Project/diffdrive.urdf at main · MertAltug/Robotics-Project · GitHub

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<?xml version="1.0"?>
<robot name="diff_drive_robot">

  <!-- Link Definitions -->
  <link name="world" />

  <link name="base_link">
    <inertial>
      <mass value="1.0"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual>
      <geometry>
        <box size="0.5 0.3 0.1"/>
      </geometry>
      <material name="blue">
        <color rgba="0.3 0.3 0.7 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size="0.5 0.3 0.1"/>
      </geometry>
    </collision>
  </link>

  <joint name="floating_base_joint" type="floating">
    <parent link="world"/>
    <child link="base_link"/>
  </joint>

  <joint name="left_wheel_joint" type="fixed">
    <parent link="base_link"/>
    <child link="left_wheel"/>
    <origin xyz="-0.1 -0.175 0" rpy="1.5707 0 0"/>
  </joint>
  <link name="left_wheel">
    <visual>
      <geometry>
        <cylinder radius="0.1" length="0.05"/>
      </geometry>
      <material name="black">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
  </link>

  <joint name="right_wheel_joint" type="fixed">
    <parent link="base_link"/>
    <child link="right_wheel"/>
    <origin xyz="-0.1 0.175 0" rpy="1.5707 0 0"/>
  </joint>
  <link name="right_wheel">
    <visual>
      <geometry>
        <cylinder radius="0.1" length="0.05"/>
      </geometry>
      <material name="black">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
  </link>

  <joint name="caster_wheel_joint" type="fixed">
    <parent link="base_link"/>
    <child link="caster_wheel"/>
    <origin xyz="0.2 0 -0.05" rpy="0 0 0"/>
  </joint>
  <link name="caster_wheel">
    <visual>
        <geometry>
            <sphere radius="0.05"/>
        </geometry>
      <material name="black">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
        <geometry>
            <sphere radius="0.05"/>
        </geometry>
    </collision>
  </link>

</robot>