2_wheel_config.urdf.xacro

<?xml version='1.0'?>

<!--
Copyright (c) 2021
KELO Robotics GmbH

Author:
Sushant Chavan


This software is published under a dual-license: GNU Lesser General Public
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This program is free software: you can redistribute it and/or modify
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="2_wheel_config" >

    <xacro:arg name="movable_joints" default="true"/>

    <!-- Include desired robile bricks -->
    <xacro:include filename="$(find robile_description)/urdf/robile_bricks/robile_active_wheel_brick.urdf.xacro" />
    <xacro:include filename="$(find robile_description)/urdf/robile_bricks/robile_passive_wheel_brick.urdf.xacro" />
    <xacro:include filename="$(find robile_description)/urdf/robile_bricks/robile_cpu_brick.urdf.xacro" />
    <xacro:include filename="$(find robile_description)/urdf/robile_bricks/robile_master_battery_brick.urdf.xacro" />

    <link name="base_link"/>

    <!-- Build platform using robile bricks -->
    <xacro:robile_passive_wheel_brick name="robile_1" parent="base_link" movable_joints="$(arg movable_joints)">
        <origin xyz="0.233 0.1165 0.05" rpy="0.0 0.0 0.0"/>
    </xacro:robile_passive_wheel_brick>

    <xacro:robile_passive_wheel_brick name="robile_2" parent="base_link" movable_joints="$(arg movable_joints)">
        <origin xyz="0.233 -0.1165 0.05" rpy="0.0 0.0 0.0"/>
    </xacro:robile_passive_wheel_brick>

    <xacro:robile_cpu_brick name="robile_3" parent="base_link">
        <origin xyz="0.0 0.1165 0.05" rpy="0.0 0.0 0.0"/>
    </xacro:robile_cpu_brick>

    <xacro:robile_master_battery_brick name="robile_4" parent="base_link">
        <origin xyz="0.0 -0.1165 0.05" rpy="0.0 0.0 0.0"/>
    </xacro:robile_master_battery_brick>

    <xacro:robile_active_wheel_brick name="robile_5" parent="base_link" movable_joints="$(arg movable_joints)">
        <origin xyz="-0.233 0.1165 0.05" rpy="0.0 0.0 0.0"/>
    </xacro:robile_active_wheel_brick>

    <xacro:robile_active_wheel_brick name="robile_6" parent="base_link" movable_joints="$(arg movable_joints)">
        <origin xyz="-0.233 -0.1165 0.05" rpy="0.0 0.0 0.0"/>
    </xacro:robile_active_wheel_brick>
</robot>