85 lines
2.9 KiB
XML
Executable File
85 lines
2.9 KiB
XML
Executable File
<?xml version="1.0" ?>
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<!--
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Various useful properties such as constants and materials
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-->
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<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
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<!-- #################### RViz materials #################### -->
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<xacro:property name="material_white">
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</xacro:property>
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<xacro:property name="material_yellow">
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<material name="yellow">
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<color rgba="${255/255} ${226/255} ${0/255} 1"/>
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</material>
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</xacro:property>
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<xacro:property name="material_almost_white">
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<material name="almost_white">
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<color rgba="0.9 0.9 0.9 1" />
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</material>
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</xacro:property>
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<xacro:property name="material_grey">
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<material name="grey">
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<color rgba="0.5 0.5 0.5 1"/>
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</material>
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</xacro:property>
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<xacro:property name="material_light_grey">
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<material name="light_grey">
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<color rgba="0.6 0.6 0.6 1"/>
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</material>
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</xacro:property>
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<xacro:property name="material_dark_grey">
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<material name="dark_grey">
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<color rgba="0.3 0.3 0.3 1"/>
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</material>
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</xacro:property>
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<xacro:property name="material_black">
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<material name="black">
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<color rgba="0.1 0.1 0.1 1"/>
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</material>
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</xacro:property>
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<xacro:property name="material_aluminum">
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<material name="aluminum">
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<color rgba="0.8 0.8 0.8 1" />
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</material>
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</xacro:property>
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<xacro:property name="material_silver">
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<material name="silver">
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<color rgba="0.79 0.82 0.93 1" />
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</material>
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</xacro:property>
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<!-- #################### inertials with origin #################### -->
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<!-- see https://secure.wikimedia.org/wikipedia/en/wiki/List_of_moment_of_inertia_tensors -->
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<xacro:macro name="sphere_inertial" params="radius mass *origin">
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<inertial>
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<mass value="${mass}" />
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<xacro:insert_block name="origin" />
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<inertia ixx="${0.4 * mass * radius * radius}" ixy="0.0" ixz="0.0"
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iyy="${0.4 * mass * radius * radius}" iyz="0.0"
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izz="${0.4 * mass * radius * radius}" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="cylinder_inertial" params="radius length mass *origin">
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<inertial>
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<mass value="${mass}" />
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<xacro:insert_block name="origin" />
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<inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
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iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
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izz="${0.5 * mass * radius * radius}" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="box_inertial" params="x y z mass *origin">
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<inertial>
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<mass value="${mass}" />
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<xacro:insert_block name="origin" />
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<inertia ixx="${0.0833333 * mass * (y*y + z*z)}" ixy="0.0" ixz="0.0"
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iyy="${0.0833333 * mass * (x*x + z*z)}" iyz="0.0"
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izz="${0.0833333 * mass * (x*x + y*y)}" />
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</inertial>
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</xacro:macro>
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</robot>
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