quimera_robot.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="quimera_robot">

  <xacro:property name="package_name" value="mobile_robot_description"/>
  <xacro:property name="robot_name" value="quimera"/>  

  <xacro:include filename="$(find ${package_name})/urdf/include/common_macros.urdf.xacro" />
  
  <!-- <xacro:set_package_name /> -->

  <xacro:property name="back_wheel_yaml" value="$(find ${package_name})/config/${robot_name}/back_wheel.yaml" />
  <xacro:property name="back_wheel_props" value="${load_yaml(back_wheel_yaml)}"/>

  <xacro:property name="front_wheel_yaml" value="$(find ${package_name})/config/${robot_name}/front_wheel.yaml" />
  <xacro:property name="front_wheel_props" value="${load_yaml(front_wheel_yaml)}"/>

  <xacro:property name="base_yaml" value="$(find ${package_name})/config/${robot_name}/base.yaml" />
  <xacro:property name="base_props" value="${load_yaml(base_yaml)}"/>

  <!-- Base link -->
  <xacro:base base_prop="${base_props}" mesh="${base_props['base']['mesh']}" >
    <origin xyz="0 0 0" rpy="${pi/2} 0 -${pi/2}" />
  </xacro:base> 
  <!-- Back Wheels -->
  <xacro:wheel prefix="back_right" reflect="-1"
                      wheel_props="${back_wheel_props}"
                      base_props="${base_props}"                    
                      mesh="${back_wheel_props['wheel']['mesh']}">
  </xacro:wheel>

  <xacro:wheel prefix="back_left" reflect="1"
                      wheel_props="${back_wheel_props}"
                      base_props="${base_props}"
                      mesh="${back_wheel_props['wheel']['mesh']}">
  </xacro:wheel>

  <!-- Front Wheels -->
  <xacro:wheel prefix="front_right" reflect="-1" 
                      wheel_props="${front_wheel_props}"
                      base_props="${base_props}"> 
  </xacro:wheel>

  <xacro:wheel prefix="front_left" reflect="1" 
                      wheel_props="${front_wheel_props}"
                      base_props="${base_props}"> 
  </xacro:wheel>
       

  <!-- <xacro:include filename="$(find mobile_description)/urdf/mobile_robot_gazebo_plugins.xacro"/>  -->

</robot>