robile_passive_wheel_brick.urdf.xacro

<?xml version="1.0"?>

<!--
Copyright (c) 2021
KELO Robotics GmbH

Author:
Sushant Chavan


This software is published under a dual-license: GNU Lesser General Public
License LGPL 2.1 and BSD license. The dual-license implies that users of this
code may choose which terms they prefer.

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this software without specific prior written permission.

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License LGPL as
published by the Free Software Foundation, either version 2.1 of the
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-->

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

    <xacro:macro name="robile_passive_wheel_brick" params="name parent *origin movable_joints:=true">

        <!-- Include xacro files-->
        <xacro:include filename="$(find robile_description)/urdf/base_macros/brick_housing.urdf.xacro" />
        <xacro:include filename="$(find robile_description)/urdf/base_macros/passive_caster_wheel.urdf.xacro" />

        <joint name="${name}_joint" type="fixed">
            <xacro:insert_block name="origin" />
            <parent link="${parent}"/>
            <child link="${name}_link" />
        </joint>

        <xacro:brick_housing name="${name}" with_wheel="true" color="blue"/>

        <xacro:passive_caster_wheel name="${name}_caster_wheel" parent="${name}_link" movable_joints="${movable_joints}">
            <origin xyz="0 0 0" rpy="0 0 0.0"/>
        </xacro:passive_caster_wheel>

    </xacro:macro>

</robot>