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houyongdi
2026-07-27 13:51:19 +08:00
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sensors/hunter_se_description/urdf/hunter_se_description.xacro
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<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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name="hunter_se_description_2">
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name="base_link">
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rpy="0 0 0" />
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value="0.01" />
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iyy="0.219144715482931"
iyz="-1.0329581476775E-05"
izz="0.313606030126045" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
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filename="package://hunter_se_description_2/meshes/base_link.STL" />
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name="">
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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<collision>
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xyz="0 0 0"
rpy="0 0 0" />
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filename="package://hunter_se_description_2/meshes/base_link.STL" />
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</link>
<link
name="fr_steer_left_link">
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xyz="-0.0002776492198312 0.0163539773588368 4.97346169803237E-09"
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name="">
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type="revolute">
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xyz="0.34058 0.24619 -0.1535"
rpy="0 0 0" />
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link="fr_steer_left_link" />
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xyz="0 0 1" />
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lower="-0.69"
upper="0.69"
effort="0"
velocity="0" />
</joint>
<link
name="fr_left_link">
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filename="package://hunter_se_description_2/meshes/fr_left_link.STL" />
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name="">
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</link>
<joint
name="fr_left_joint"
type="continuous">
<origin
xyz="0 0 0"
rpy="1.5708 0 0.016976" />
<parent
link="fr_steer_left_link" />
<child
link="fr_left_link" />
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xyz="0 0 -1" />
</joint>
<link
name="fr_steer_right_link">
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xyz="0.000274981985673328 -0.0163540222836661 -3.24802407192237E-11"
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rgba="1 1 1 1" />
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xyz="0 0 0"
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</collision>
</link>
<joint
name="fr_steer_right_link"
type="revolute">
<origin
xyz="0.34219 -0.24619 -0.1535"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="fr_steer_right_link" />
<axis
xyz="0 0 1" />
<limit
lower="-0.69"
upper="0.69"
effort="0"
velocity="0" />
</joint>
<link
name="fr_right_link">
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xyz="0.00027498198567355 3.24801296969213E-11 -0.0163540222836661"
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<visual>
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filename="package://hunter_se_description_2/meshes/fr_right_link.STL" />
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name="">
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rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
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xyz="0 0 0"
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<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/fr_right_link.STL" />
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</collision>
</link>
<joint
name="fr_right_joint"
type="continuous">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="fr_steer_right_link" />
<child
link="fr_right_link" />
<axis
xyz="0 0 1" />
</joint>
<link
name="re_left_link">
<inertial>
<origin
xyz="1.245E-09 1.7252E-06 -0.010284"
rpy="0 0 0" />
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value="0.01" />
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ixx="0.018208"
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iyy="0.018208"
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<visual>
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xyz="0 0 0"
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<material
name="">
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rgba="0.37647 0.37647 0.37647 1" />
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<collision>
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xyz="0 0 0"
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filename="package://hunter_se_description_2/meshes/re_left_link.STL" />
</geometry>
</collision>
</link>
<joint
name="re_left_jiont"
type="continuous">
<origin
xyz="-0.2078 0.252 -0.158"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="re_left_link" />
<axis
xyz="0 0 -1" />
</joint>
<link
name="re_right_link">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="0.01" />
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<visual>
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/re_right_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
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</collision>
</link>
<joint
name="re_right_jiont"
type="continuous">
<origin
xyz="-0.2078 -0.252 -0.158"
rpy="-1.5708 0 0" />
<parent
link="base_link" />
<child
link="re_right_link" />
<axis
xyz="0 0 1" />
</joint>
</robot>