atrv.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="atrv">
	<xacro:property name="width" value=".39" />
	<xacro:property name="len" value=".64" />
	<xacro:property name="wradius" value=".15"/>
	<xacro:property name="wthick" value=".1"/>
	<link name="base_link">
			<visual>
					<geometry>
							<box size="${len} ${width} .22"/>
					</geometry>
			</visual>
			<collision>
					<geometry>
							<box size="${len} ${width} .22"/>
					</geometry>
			</collision>
	</link>

  <link name="base_footprint">
    <visual>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>

  <link name="top_cover">
			<visual>
					<geometry>
							<box size="${len} ${width} .25"/>
					</geometry>
			</visual>
			<collision>
					<geometry>
							<box size="${len} ${width} .25"/>
					</geometry>
			</collision>
	</link>

	<joint name="base_to_top_cover" type="fixed">
		<parent link="base_link"/>
		<child link="top_cover"/>
		<origin xyz="0 0 .1"/>
	</joint>

  <joint name="base_footprint_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.150"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>

	<xacro:macro name="wheel" params="prefix fb lr">
		<!-- note front => fb = 1, left => lr = 1 -->
		<link name="${prefix}_wheel">
			<visual>
				<geometry>
					<cylinder length="${wthick}" radius="${wradius}"/>
				</geometry>
				<material name="black">
					<color rgba="0 0 0 1"/>
				</material>
			</visual>
			<collision>
				<geometry>
					<cylinder length="${wthick}" radius="${wradius}"/>
				</geometry>
			</collision>
		</link>

		<joint name="base_to_${prefix}_wheel" type="continuous">
			<parent link="base_link"/>
			<child link="${prefix}_wheel"/>
			<axis xyz="0 0 -1"/>
			<origin rpy="1.57075 0 0" xyz="${fb*.19} ${lr*.25} -.05" />
      <limit effort="5.0" velocity="5.0"/>
      <joint_properties damping="2.0" friction="{steer_joint_friction}"/>
		</joint>
    <transmission name="${prefix}_joint_wheel_steer_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="$base_to_${prefix}_wheel"/>
      <actuator name="${prefix}_joint_wheel_steer_motor">
        <hardwareInterface>EffortJointInterface</hardwareInterface>
        <mechanicalReduction>100.0</mechanicalReduction>
        <motorTorqueConstant>1</motorTorqueConstant>
      </actuator>
    </transmission>
	</xacro:macro>

	<xacro:wheel prefix="front_left" fb="1" lr="1" />
	<xacro:wheel prefix="front_right" fb="1" lr="-1" />
	<xacro:wheel prefix="rear_left" fb="-1" lr="1" />
	<xacro:wheel prefix="rear_right" fb="-1" lr="-1" />
</robot>