<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from ../urdf/husky.urdf.xacro       | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<!--
Software License Agreement (BSD)

\file      husky.urdf.xacro
\authors   Paul Bovbel <pbovbel@clearpathrobotics.com>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
 * Redistributions of source code must retain the above copyright notice, this list of conditions and the
   following disclaimer.
 * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
   following disclaimer in the documentation and/or other materials provided with the distribution.
 * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
   products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- Included URDF/XACRO Files -->
  <material name="Black">
    <color rgba="0.1 0.1 0.1 1.0"/>
  </material>
  <material name="Blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <material name="Green">
    <color rgba="0.0 0.8 0.0 1.0"/>
  </material>
  <material name="Grey">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <material name="DarkGrey">
    <color rgba="0.3 0.3 0.3 1.0"/>
  </material>
  <material name="Red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <material name="Yellow">
    <color rgba="0.8 0.8 0.0 1.0"/>
  </material>
  <!-- Base Size -->
  <!-- Wheel Mounting Positions -->
  <!-- Wheel Properties -->
  <!-- Base link is on the ground under the robot -->
  <link name="base_footprint"/>
  <gazebo reference="base_footprint">
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  <joint name="chassis_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.14493"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>
  <!-- Chassis link is the center of the robot's bottom plate -->
  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/base_link.stl"/>
      </geometry>
      <material name="Black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.12498"/>
      <geometry>
        <!-- Make collision box slightly bigger in x and z directions. -->
        <box size="1.0074 0.5709 0.2675"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="33.455"/>
      <origin xyz="-0.08748 -0.00085 0.09947"/>
      <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296"/>
    </inertial>
  </link>
  <gazebo reference="base_link">
    </gazebo>
  <!-- IMU Link is the standard mounting position for the UM6 IMU.-->
  <!-- Can be modified with environment variables in /etc/ros/setup.bash -->
  <link name="imu_link"/>
  <joint name="imu_joint" type="fixed">
    <origin rpy="$(optenv HUSKY_IMU_RPY 0 -1.5708 3.1416)" xyz="$(optenv HUSKY_IMU_XYZ 0.19 0 0.149)"/>
    <parent link="base_link"/>
    <child link="imu_link"/>
  </joint>
  <gazebo reference="imu_link">
    </gazebo>
  <!-- Husky wheel macros -->
  <link name="front_left_wheel_link">
  	<contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="2.637"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/wheel.stl"/>
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.1143" radius="0.17775"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="front_left_wheel_link">
    <mu1 value="1.0"/>
    <mu2 value="1.0"/>
    <kp value="10000000.0"/>
    <kd value="1.0"/>
    <fdir1 value="1 0 0"/>
    <material>Gazebo/Grey</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <joint name="front_left_wheel" type="continuous">
    <parent link="base_link"/>
    <child link="front_left_wheel_link"/>
    <origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
  <transmission name="front_left_wheel_trans" type="SimpleTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="front_left_wheel_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="front_left_wheel">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <link name="front_right_wheel_link">
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="2.637"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/wheel.stl"/>
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.1143" radius="0.17775"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="front_right_wheel_link">
    <mu1 value="1.0"/>
    <mu2 value="1.0"/>
    <kp value="10000000.0"/>
    <kd value="1.0"/>
    <fdir1 value="1 0 0"/>
    <material>Gazebo/Grey</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <joint name="front_right_wheel" type="continuous">
    <parent link="base_link"/>
    <child link="front_right_wheel_link"/>
    <origin rpy="0 0 0" xyz="0.256 -0.2854 0.03282"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
  <transmission name="front_right_wheel_trans" type="SimpleTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="front_right_wheel_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="front_right_wheel">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <link name="rear_left_wheel_link">
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="2.637"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/wheel.stl"/>
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.1143" radius="0.17775"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="rear_left_wheel_link">
    <mu1 value="1.0"/>
    <mu2 value="1.0"/>
    <kp value="10000000.0"/>
    <kd value="1.0"/>
    <fdir1 value="1 0 0"/>
    <material>Gazebo/Grey</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <joint name="rear_left_wheel" type="continuous">
    <parent link="base_link"/>
    <child link="rear_left_wheel_link"/>
    <origin rpy="0 0 0" xyz="-0.256 0.2854 0.03282"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
  <transmission name="rear_left_wheel_trans" type="SimpleTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="rear_left_wheel_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="rear_left_wheel">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <link name="rear_right_wheel_link">
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="2.637"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/wheel.stl"/>
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.1143" radius="0.17775"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="rear_right_wheel_link">
    <mu1 value="1.0"/>
    <mu2 value="1.0"/>
    <kp value="10000000.0"/>
    <kd value="1.0"/>
    <fdir1 value="1 0 0"/>
    <material>Gazebo/Grey</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <joint name="rear_right_wheel" type="continuous">
    <parent link="base_link"/>
    <child link="rear_right_wheel_link"/>
    <origin rpy="0 0 0" xyz="-0.256 -0.2854 0.03282"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
  <transmission name="rear_right_wheel_trans" type="SimpleTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="rear_right_wheel_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="rear_right_wheel">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <link name="top_plate_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/top_plate.stl"/>
      </geometry>
      <material name="Yellow"/>
    </visual>
  </link>
  <joint name="top_plate" type="fixed">
    <parent link="base_link"/>
    <child link="top_plate_link"/>
  </joint>
  <gazebo reference="top_plate_link">
    <material>Gazebo/Yellow</material>
  </gazebo>
  <link name="user_rail_link">
    <visual>
      <geometry>
        <mesh filename="meshes/user_rail.stl"/>
      </geometry>
      <material name="DarkGrey"/>
    </visual>
  </link>
  <joint name="user_rail" type="fixed">
    <origin rpy="0 0 0" xyz="0.272 0 0.245"/>
    <parent link="base_link"/>
    <child link="user_rail_link"/>
  </joint>
  <gazebo reference="user_rail_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  <link name="front_bumper_link">
    <visual>
      <geometry>
        <mesh filename="meshes/bumper.stl"/>
      </geometry>
      <material name="DarkGrey"/>
    </visual>
  </link>
  <joint name="front_bumper" type="fixed">
    <origin rpy="0 0 0" xyz="0.48 0 0.091"/>
    <parent link="base_link"/>
    <child link="front_bumper_link"/>
  </joint>
  <gazebo reference="front_bumper_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  <link name="rear_bumper_link">
    <visual>
      <geometry>
        <mesh filename="meshes/bumper.stl"/>
      </geometry>
      <material name="DarkGrey"/>
    </visual>
  </link>
  <joint name="rear_bumper" type="fixed">
    <origin rpy="0 0 3.14159" xyz="-0.48 0 0.091"/>
    <parent link="base_link"/>
    <child link="rear_bumper_link"/>
  </joint>
  <gazebo reference="rear_bumper_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>
</robot>

