robotmodel.urdf

<?xml version="1.0"?>
<robot name="mbot">
  <link name="base_link">
    <visual>
      <geometry>
        <mesh filename="package://system_setup/CAD/tanksimple.stl"/>
      </geometry>
    </visual>
  </link>

   <link name="lwheel">
    <visual>
      <geometry>
        <cylinder length="0.005" radius="0.016"/>
      </geometry>
      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
      <material name="white">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
  </link>
  
  <joint name="base_to_lwheel" type="continuous">
    <parent link="base_link"/>
    <child link="lwheel"/>
    <origin xyz="0 0.08 0.016" rpy="0 0 1.5708"/>
  </joint>
  
  <link name="rwheel">
    <visual>
      <geometry>
        <cylinder length="0.005" radius="0.016"/>
      </geometry>
      <origin rpy="0 1.5708  0" xyz="0 0 0"/>
      <material name="white">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
  </link>
  
  <joint name="base_to_rwheel" type="continuous">
    <parent link="base_link"/>
    <child link="rwheel"/>
    <origin xyz="0 -0.08 0.016" rpy="0 0 -1.5708"/>
  </joint>

  <link name="laser">

    <visual>
        <origin xyz="0.0 0 0.0" rpy="0 0 0" />
        <geometry>
        <cylinder radius="0.03" length="0.01"/>
        </geometry>
        <material name="white" />
    </visual>

    <!--collision>
        <origin xyz="0 0 0" rpy="0 0 1.5708"/>
        <geometry>
        <cylinder radius="0.03" length="0.01"/>
        </geometry>
    </collision-->
  </link>

  <joint name="joint_sensor_laser" type="fixed">
    <origin xyz="0.0202 -0.02 0.10" rpy="0 0 3.08"/>
    <parent link="base_link"/>
    <child link="laser"/>
  </joint>

  <link name="imu"/>

  <joint name="joint_base_imu" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="3.141592 0 0"/>
    <parent link="base_link"/>
    <child link="imu"/>
  </joint>
  
  
  
</robot>