omniwheels.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
    <!--
        The entire omniwheels are within a gazebo element because that way,
        they're ignored altogether by URDF. The reason for this is that they use
        a revolute2 joint type which is unsupported by URDF. Gazebo does support
        this and it is only needed for simulation.
    -->
    <gazebo>
        <link name="front_wheel">
            <pose>0.18 0 0.0625 1.57079632679 0 0</pose>
            <inertial>
                <mass>1.0</mass>
                <inertia>
                    <ixx>0.0078</ixx>
                    <ixy>0</ixy><iyy>0.0078</iyy>
                    <ixz>0</ixz><iyz>0</iyz><izz>0.0078</izz>
                </inertia>
            </inertial>
            <collision name="front_wheel_geom">
                <geometry>
                    <sphere><radius>0.0625</radius></sphere>
                </geometry>
                <surface>
                    <contact><ode>
                        <kp>1000000.0</kp>
                        <kd>1.0</kd>
                        <max_vel>100.0</max_vel>
                        <min_depth>0.0</min_depth>
                    </ode></contact>
                </surface>
            </collision>
            <visual name="front_wheel_visual">
                <geometry>
                    <sphere><radius>0.0625</radius></sphere>
                </geometry>
                <material><script>
                    <name>Gazebo/Black</name>
                    <uri>__default__</uri>
                </script></material>
            </visual>
        </link>
        <link name="rear_wheel">
            <pose>-0.18 0 0.0625 1.57079632679 0 0</pose>
            <inertial>
                <mass>1.0</mass>
                <inertia>
                    <ixx>0.0078</ixx>
                    <ixy>0</ixy><iyy>0.0078</iyy>
                    <ixz>0</ixz><iyz>0</iyz><izz>0.0078</izz>
                </inertia>
            </inertial>
            <collision name="rear_wheel_geom">
                <geometry>
                    <sphere><radius>0.0625</radius></sphere>
                </geometry>
                <surface>
                    <contact><ode>
                        <kp>1000000.0</kp>
                        <kd>1.0</kd>
                        <max_vel>100.0</max_vel>
                        <min_depth>0.0</min_depth>
                    </ode></contact>
                </surface>
            </collision>
            <visual name="rear_wheel_visual">
                <geometry>
                    <sphere><radius>0.0625</radius></sphere>
                </geometry>
                <material><script>
                    <name>Gazebo/Black</name>
                    <uri>__default__</uri>
                </script></material>
            </visual>
        </link>
        <joint name="front_wheel_axle" type="revolute2">
            <parent>lower_part</parent>
            <child>front_wheel</child>
            <axis>
                <xyz>0 1 0</xyz>
                <limit>
                    <lower/><upper/>
                    <effort>10</effort>
                    <velocity>1.68</velocity>
                </limit>
            </axis>
            <axis2>
                <xyz>1 0 0</xyz>
                <limit>
                    <lower/><upper/>
                    <effort>10</effort>
                    <velocity>1.68</velocity>
                </limit>
            </axis2>
        </joint>
        <joint name="rear_wheel_axle" type="revolute2">
            <parent>lower_part</parent>
            <child>rear_wheel</child>
            <axis>
                <xyz>0 1 0</xyz>
                <limit>
                    <lower/><upper/>
                    <effort>10</effort>
                    <velocity>1.68</velocity>
                </limit>
            </axis>
            <axis2>
                <xyz>1 0 0</xyz>
                <limit>
                    <lower/><upper/>
                    <effort>10</effort>
                    <velocity>1.68</velocity>
                </limit>
            </axis2>
        </joint>
    </gazebo>
</robot>