57 lines
2.1 KiB
Plaintext
57 lines
2.1 KiB
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="soft_arm">
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<xacro:property name="disk_radius" value="0.04" />
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<xacro:property name="disk_height" value="0.005" />
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<!-- Base Link -->
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<link name="base_link">
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<visual>
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<geometry>
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<box size="0.1 0.1 0.02"/>
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</geometry>
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<material name="grey">
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<color rgba="0.5 0.5 0.5 1"/>
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</material>
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</visual>
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</link>
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<!-- Macro for a Disk -->
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<xacro:macro name="pcc_disk" params="name parent color">
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<link name="${name}">
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<visual>
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<geometry>
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<cylinder radius="${disk_radius}" length="${disk_height}"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="${color}_mat">
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<color rgba="${color} 1"/>
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</material>
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</visual>
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</link>
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<!-- ！！！核心修改在这里！！！ -->
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<!-- 必须添加 Joint，否则 robot_state_publisher 会崩溃 -->
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<!-- type="floating" 表示这个关节是浮动的，位置由外部 TF 决定 -->
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<joint name="${name}_joint" type="floating">
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<parent link="${parent}"/>
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<child link="${name}"/>
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</joint>
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</xacro:macro>
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<!-- Section 1 -->
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<xacro:pcc_disk name="sec1_disk1" parent="base_link" color="1 0 0"/>
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<xacro:pcc_disk name="sec1_disk2" parent="base_link" color="1 0 0"/>
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<xacro:pcc_disk name="sec1_disk3" parent="base_link" color="1 0 0"/>
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<!-- Section 2 -->
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<xacro:pcc_disk name="sec2_disk1" parent="base_link" color="0 1 0"/>
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<xacro:pcc_disk name="sec2_disk2" parent="base_link" color="0 1 0"/>
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<xacro:pcc_disk name="sec2_disk3" parent="base_link" color="0 1 0"/>
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<!-- Section 3 -->
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<xacro:pcc_disk name="sec3_disk1" parent="base_link" color="0 0 1"/>
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<xacro:pcc_disk name="sec3_disk2" parent="base_link" color="0 0 1"/>
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<xacro:pcc_disk name="sec3_disk3" parent="base_link" color="0 0 1"/>
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</robot>
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