urdf_tutorial/urdf/simple_ddbot.urdf at 18b03133ef11ba07b74c07f9e86f57495d3a6c6e · ros/urdf_tutorial · GitHub

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<?xml version="1.0"?>
<robot name="your_robot">


  <!-- Reusable green material -->
  <material name="green">
    <color rgba="0.2 1 0.2 1"/>
  </material>

  <!-- Base link -->
  <link name="base_link">
    <visual>
      <origin xyz="0 0 0.25"/>
      <geometry>
        <box size="1.5 1 0.25"/>
      </geometry>
      <material name="green"/>
    </visual>
  </link>

 <!-- Right wheel link -->
  <link name="right_wheel_link">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.2" radius="0.2"/>
      </geometry>
      <material name="green"/>
    </visual>
  </link>

<!-- Right wheel joint -->
  <joint name="right_wheel_joint" type="continuous">
    <origin xyz="-0.5 -0.6 0.2" rpy="1.57 0 0"/>
    <parent link="base_link"/>
    <child link="right_wheel_link"/>
  </joint>

  <!-- Left wheel link -->
  <link name="left_wheel_link">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.2" radius="0.2"/>
      </geometry>
      <material name="green"/>
    </visual>
  </link>

    <!-- Left wheel joint -->
  <joint name="left_wheel_joint" type="continuous">
    <origin xyz="-0.5 0.6 0.2" rpy="1.57 0 0"/>
    <parent link="base_link"/>
    <child link="left_wheel_link"/>
  </joint>

  <link name="caster_link">
    <visual>
        <geometry>
        <sphere radius="0.08"/>
        </geometry>
    </visual>
  </link>

  <joint name="caster_joint" type='fixed'>
  <origin xyz="0.6 0 0.075"/>
    <parent link="base_link"/>
    <child link="caster_link"/>
  </joint>

</robot>