feli.xacro

<?xml version="1.0" ?>
<robot name="Feli" 
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" 
       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" 
       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:xacro="http://ros.org/wiki/xacro">

  <!-- materials -->
  <material name="Red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="Black">
    <color rgba="0.02 0.02 0.02 1.0"/>
  </material>
  <material name="Aluminium">
    <color rgba="0.65 0.65 0.65 1.0"/>
  </material>
  <material name="white">
	<color rgba="1 1 1 1" />
  </material>
  <material name="black">
	<color rgba="0 0 0 1" />
  </material>
  <material name="red">
	<color rgba="1 0 0 1" />
  </material>
  <material name="green">
	<color rgba="0 1 0 1" />
  </material>
  <material name="blue">
	<color rgba="0 0 1 1" />
  </material>
  <material name="yellow">
	<color rgba="1 1 0 1" />
  </material>
  <material name="darkgray">
	<color rgba="0.3 0.3 0.3 1" />
  </material>
  <material name="gray">
	<color rgba="0.7 0.7 0.7 1" />
  </material>
  <material name="glass">
	<color rgba="1 1 1 0.2" />
  </material>

  <!-- base_footprint : a fictional link that is on the floor plane, needed for move_base -->
  <link name="base_footprint">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0 0 0"/> 
      </geometry>
      <material name="Red"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0 0 0"/>
      </geometry>
    </collision>
  </link>

  <!-- Base link is the actual robot body -->
  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
		<mesh filename="package://feli_description/meshes/feli_1.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.175"/>
      <geometry>
        <cylinder length="0.35" radius="0.16"/>
      </geometry>
    </collision>
  </link>


  <!-- Base footprint -> base_link -->
  <joint name="base_footprint_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.021"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>

</robot>