Dora.urdf

<?xml version="1.0"?>
<robot name="sam_bot" xmlns:xacro="http://ros.org/wiki/xacro">

  <!-- Define robot constants -->
  <!-- nagyobb a modell a valosnal-->
  <xacro:property name="base_radius" value="0.2" />
  <xacro:property name="base_length" value="0.2" />
  <xacro:property name="base_height" value="" />

  <xacro:property name="wheel_radius" value="0.03" />
  <xacro:property name="wheel_width" value="0.02" />
  <xacro:property name="wheel_ygap" value="0" />
  <xacro:property name="wheel_zoff" value="0" />
  <xacro:property name="wheel_xoff" value="0.12" />

  <xacro:property name="caster_xoff" value="0.14" />

  <!-- Robot Base -->
  <link name="base_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder lenght="${base_length}" radius="{base_radius}" />		<!-- meterben -->
      </geometry>

      <material name="Pink">
        <color rgba="1.0 0.753 0.796" />
      </material>
    </visual>
  </link>

  <!-- Robot Footprint Nav2 utkozésvizsgalathoz-->			
  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
    <parent link="base_link" />
    <child link="base_footprint" />
    <origin xyz="0.0 0.0 ${-(wheel_radius+wheel_zoff)}" rpy="0 0 0" />
  </joint>

  <!-- Wheels -->
  <xacro:macro name="wheel" params="prefix x_reflect y_reflect yaw_rotate">
    <link name="${prefix}_link">
      <visual>
        <origin xyz="0 0 0" rpy="${pi/2} 0 ${yaw_rotate}" />
        <geometry>
            <cylinder length="${wheel_width}" radius="${wheel_radius}"/>
        </geometry>
        <material name="Gray">
          <color rgba="0.5 0.5 0.5 1.0" />
        </material>
      </visual>
    </link>

    <joint name="${prefix}_joint" type="continuous">
      <parent link="base_link" />
      <child link="${prefix}_link" />
      <origin xyz="${x_reflect} ${y_reflect} ${-wheel_zoff}" rpy="0 0 0" />
      <axis xyz="0 1 0" />
    </joint>
  </xacro:macro>

  <xacro:wheel prefix="drivewhl_left" x_reflect="-0.12" y_reflect="-0.1723" yaw_rotate="${pi/2}" />
  <xacro:wheel prefix="drivewhl_right" x_reflect="-0.12" y_reflect="0.1723" yaw_rotate="${5*pi/6}" />
  <xacro:wheel prefix="drivewhl_front" x_reflect="0.21" y_reflect="0" yaw_rotate="${-pi/6}" />

</robot>