tag.urdf

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from generator_tag.xacro            | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <joint name="tag_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.7 0.0 0.0"/>
    <parent link="base_link"/>
    <child link="tag_link"/>
  </joint>
  <link name="tag_link">
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.00000001" ixy="0.0" ixz="0.0" iyy="0.00000001" iyz="0.0" izz="0.00000001"/>
    </inertial>
    <visual>
      <origin rpy="0 -1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://vigir_ar_alvar_description/meshes/tag.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://vigir_ar_alvar_description/meshes/tag.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="tag_background_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.001"/>
    <parent link="tag_link"/>
    <child link="tag_background_link"/>
  </joint>
  <link name="tag_background_link">
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.00000001" ixy="0.0" ixz="0.0" iyy="0.00000001" iyz="0.0" izz="0.00000001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 0.0001"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="tag_link">
    <!--      
      <material>artag/${name}</material>
      <turnGravityOff>false</turnGravityOff>
      <static>false</static>
      -->
  </gazebo>
  <gazebo reference="tag_background_link">
    <material>Gazebo/White</material>
    <!--
      <turnGravityOff>false</turnGravityOff>
      <static>false</static>
      -->
  </gazebo>
</robot>