From 6a2fd1dd72eb1ca93c395ff90583f8575d3cefb0 Mon Sep 17 00:00:00 2001
From: test_dengjun <test_dengjun@users.databall.tech>
Date: Thu, 3 Sep 2026 17:40:15 +0000
Subject: [PATCH] fix

---
 src/bcr_bot/robot.urdf | 294 ++++++++++++++++++-----------------------
 1 file changed, 128 insertions(+), 166 deletions(-)

diff --git a/src/bcr_bot/robot.urdf b/src/bcr_bot/robot.urdf
index 30c0edc..19347ad 100644
--- a/src/bcr_bot/robot.urdf
+++ b/src/bcr_bot/robot.urdf
@@ -1,321 +1,283 @@
-<?xml version="1.0"?>
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /workspace/src/bcr_bot/urdf/bcr_bot.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
 <robot name="bcr_bot">
+  <!--................................ XACRO CONSTANTS .............................. -->
+  <!-- ............................... LOAD MACROS ................................. -->
   <material name="black">
-    <color rgba="0.0 0.0 0.0 1.0" />
+    <color rgba="0.0 0.0 0.0 1.0"/>
   </material>
   <material name="blue">
-    <color rgba="0.0 0.0 0.8 1.0" />
+    <color rgba="0.0 0.0 0.8 1.0"/>
   </material>
   <material name="green">
-    <color rgba="0.0 0.8 0.0 1.0" />
+    <color rgba="0.0 0.8 0.0 1.0"/>
   </material>
   <material name="yellow">
-    <color rgba="1.0 1.0 0.0 1.0" />
+    <color rgba="1.0 1.0 0.0 1.0"/>
   </material>
   <material name="dark_grey">
-    <color rgba="0.2 0.2 0.2 1.0" />
+    <color rgba="0.2 0.2 0.2 1.0"/>
   </material>
   <material name="orange">
-    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
+    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
   </material>
   <material name="brown">
-    <color rgba="0.5450980392156862 0.27058823529411763 0.07450980392156863 1.0" />
+    <color rgba="0.5450980392156862 0.27058823529411763 0.07450980392156863 1.0"/>
   </material>
   <material name="red">
-    <color rgba="0.8 0.0 0.0 1.0" />
+    <color rgba="0.8 0.0 0.0 1.0"/>
   </material>
   <material name="turquoise">
-    <color rgba="0.25098039215686274 0.8784313725490196 0.8156862745098039 1.0" />
+    <color rgba="0.25098039215686274 0.8784313725490196 0.8156862745098039 1.0"/>
   </material>
   <material name="purple">
-    <color rgba="0.5019607843137255 0.0 0.5019607843137255 1.0" />
+    <color rgba="0.5019607843137255 0.0 0.5019607843137255 1.0"/>
   </material>
   <material name="white">
-    <color rgba="1.0 1.0 1.0 1.0" />
+    <color rgba="1.0 1.0 1.0 1.0"/>
   </material>
   <material name="aluminium">
-    <color rgba="0.5 0.5 0.5 1" />
+    <color rgba="0.5 0.5 0.5 1"/>
   </material>
   <material name="plastic">
-    <color rgba="0.1 0.1 0.1 1" />
+    <color rgba="0.1 0.1 0.1 1"/>
   </material>
-  <material name="light_grey">
-    <color rgba="0.6 0.6 0.6 1" />
-  </material>
-  <material name="camera_grey">
-    <color rgba="0.15 0.15 0.15 1" />
-  </material>
-  <link name="base_footprint" />
-  <link name="base_link" />
+  <!--................................ INERTIA MATRICES .............................. -->
+  <!-- ............................... TROLLEY WHEEL DEFINITION .............................. -->
+  <!-- ................................ BASE LINK .................................. -->
+  <link name="base_footprint"/>
+  <link name="base_link"/>
   <joint name="base_joint" type="fixed">
-    <parent link="base_footprint" />
-    <child link="base_link" />
-    <origin rpy="0 0 0.0" xyz="0.0 0 0.195" />
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin rpy="0 0 0.0" xyz="0.0 0 0.195"/>
   </joint>
   <link name="chassis_link">
     <collision>
-      <origin rpy="0 0 0" xyz="0 0 -0.05" />
+      <origin rpy="0 0 0" xyz="0 0 -0.05"/>
       <geometry>
-        <box size="0.9 0.64 0.19" />
+        <box size="0.9 0.64 0.19"/>
       </geometry>
     </collision>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 -0.05" />
+      <origin rpy="0 0 0" xyz="0 0 -0.205"/>
       <geometry>
-        <box size="0.9 0.64 0.19" />
-      </geometry>
-      <material name="dark_grey" />
+                          <mesh filename="meshes/bcr_bot_mesh.dae" scale="1 1 1"/>
+                                                    </geometry>>
     </visual>
     <inertial>
-      <mass value="70" />
-      <inertia ixx="2.5999166666666667" ixy="0" ixz="0" iyy="4.935583333333334" iyz="0" izz="7.114333333333334" />
+      <mass value="70"/>
+      <inertia ixx="2.5999166666666667" ixy="0" ixz="0" iyy="4.935583333333334" iyz="0" izz="7.114333333333334"/>
     </inertial>
   </link>
   <joint name="chassis_joint" type="fixed">
-    <parent link="base_link" />
-    <child link="chassis_link" />
-    <origin rpy="0 0 0.0" xyz="0.0 0 0" />
+    <parent link="base_link"/>
+    <child link="chassis_link"/>
+    <origin rpy="0 0 0.0" xyz="0.0 0 0"/>
   </joint>
+  <!-- ................................ WHEELS ..................................... -->
   <link name="front_left_wheel">
     <collision>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
+      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.06" />
+        <sphere radius="0.06"/>
       </geometry>
     </collision>
-    <visual>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
-      <geometry>
-        <sphere radius="0.06" />
-      </geometry>
-      <material name="black" />
-    </visual>
     <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <mass value="0.1" />
-      <inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998"/>
     </inertial>
     <mu>0.0</mu>
   </link>
   <joint name="front_left_wheel_joint" type="fixed">
-    <parent link="base_link" />
-    <child link="front_left_wheel" />
-    <origin rpy="0 0 0" xyz="0.45 0.27 -0.155" />
-    <axis xyz="0 1 0" />
+    <parent link="base_link"/>
+    <child link="front_left_wheel"/>
+    <origin rpy="0 0 0" xyz="0.45 0.27 -0.155"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
   </joint>
   <gazebo reference="front_left_wheel">
     <material>Gazebo/Black</material>
   </gazebo>
   <link name="front_right_wheel">
     <collision>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
+      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.06" />
+        <sphere radius="0.06"/>
       </geometry>
     </collision>
-    <visual>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
-      <geometry>
-        <sphere radius="0.06" />
-      </geometry>
-      <material name="black" />
-    </visual>
     <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <mass value="0.1" />
-      <inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998"/>
     </inertial>
     <mu>0.0</mu>
   </link>
   <joint name="front_right_wheel_joint" type="fixed">
-    <parent link="base_link" />
-    <child link="front_right_wheel" />
-    <origin rpy="0 0 0" xyz="0.45 -0.27 -0.155" />
-    <axis xyz="0 1 0" />
+    <parent link="base_link"/>
+    <child link="front_right_wheel"/>
+    <origin rpy="0 0 0" xyz="0.45 -0.27 -0.155"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
   </joint>
   <gazebo reference="front_right_wheel">
     <material>Gazebo/Black</material>
   </gazebo>
   <link name="back_left_wheel">
     <collision>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
+      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.06" />
+        <sphere radius="0.06"/>
       </geometry>
     </collision>
-    <visual>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
-      <geometry>
-        <sphere radius="0.06" />
-      </geometry>
-      <material name="black" />
-    </visual>
     <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <mass value="0.1" />
-      <inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998"/>
     </inertial>
     <mu>0.0</mu>
   </link>
   <joint name="back_left_wheel_joint" type="fixed">
-    <parent link="base_link" />
-    <child link="back_left_wheel" />
-    <origin rpy="0 0 0" xyz="-0.45 0.27 -0.155" />
-    <axis xyz="0 1 0" />
+    <parent link="base_link"/>
+    <child link="back_left_wheel"/>
+    <origin rpy="0 0 0" xyz="-0.45 0.27 -0.155"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
   </joint>
   <gazebo reference="back_left_wheel">
     <material>Gazebo/Black</material>
   </gazebo>
   <link name="back_right_wheel">
     <collision>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
+      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.06" />
+        <sphere radius="0.06"/>
       </geometry>
     </collision>
-    <visual>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
-      <geometry>
-        <sphere radius="0.06" />
-      </geometry>
-      <material name="black" />
-    </visual>
     <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <mass value="0.1" />
-      <inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998"/>
     </inertial>
     <mu>0.0</mu>
   </link>
   <joint name="back_right_wheel_joint" type="fixed">
-    <parent link="base_link" />
-    <child link="back_right_wheel" />
-    <origin rpy="0 0 0" xyz="-0.45 -0.27 -0.155" />
-    <axis xyz="0 1 0" />
+    <parent link="base_link"/>
+    <child link="back_right_wheel"/>
+    <origin rpy="0 0 0" xyz="-0.45 -0.27 -0.155"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
   </joint>
   <gazebo reference="back_right_wheel">
     <material>Gazebo/Black</material>
   </gazebo>
   <link name="middle_left_wheel">
     <collision>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
+      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
       <geometry>
-        <cylinder length="0.05" radius="0.1" />
+        <cylinder length="0.05" radius="0.1"/>
       </geometry>
       <self_collide>false</self_collide>
     </collision>
-    <visual>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
-      <geometry>
-        <cylinder length="0.05" radius="0.1" />
-      </geometry>
-      <material name="black" />
-    </visual>
     <inertial>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.002708333333333334" ixy="0" ixz="0" iyy="0.002708333333333334" iyz="0" izz="0.005000000000000001" />
+      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.002708333333333334" ixy="0" ixz="0" iyy="0.002708333333333334" iyz="0" izz="0.005000000000000001"/>
     </inertial>
     <mu>5.0</mu>
   </link>
   <joint name="middle_left_wheel_joint" type="continuous">
-    <parent link="base_link" />
-    <child link="middle_left_wheel" />
-    <origin rpy="0 0 0" xyz="0 0.3 -0.11699999999999999" />
-    <axis xyz="0 1 0" />
+    <parent link="base_link"/>
+    <child link="middle_left_wheel"/>
+    <origin rpy="0 0 0" xyz="0 0.3 -0.11699999999999999"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
   </joint>
   <gazebo reference="middle_left_wheel">
     <material>Gazebo/Black</material>
   </gazebo>
   <link name="middle_right_wheel">
     <collision>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
+      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
       <geometry>
-        <cylinder length="0.05" radius="0.1" />
+        <cylinder length="0.05" radius="0.1"/>
       </geometry>
       <self_collide>false</self_collide>
     </collision>
-    <visual>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
-      <geometry>
-        <cylinder length="0.05" radius="0.1" />
-      </geometry>
-      <material name="black" />
-    </visual>
     <inertial>
-      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.002708333333333334" ixy="0" ixz="0" iyy="0.002708333333333334" iyz="0" izz="0.005000000000000001" />
+      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.002708333333333334" ixy="0" ixz="0" iyy="0.002708333333333334" iyz="0" izz="0.005000000000000001"/>
     </inertial>
     <mu>5.0</mu>
   </link>
   <joint name="middle_right_wheel_joint" type="continuous">
-    <parent link="base_link" />
-    <child link="middle_right_wheel" />
-    <origin rpy="0 0 0" xyz="0 -0.3 -0.11699999999999999" />
-    <axis xyz="0 1 0" />
+    <parent link="base_link"/>
+    <child link="middle_right_wheel"/>
+    <origin rpy="0 0 0" xyz="0 -0.3 -0.11699999999999999"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
   </joint>
   <gazebo reference="middle_right_wheel">
     <material>Gazebo/Black</material>
   </gazebo>
-  <link name="imu_frame" />
+  <!-- ............................. 2D LIDAR ........................................ -->
+  <!-- ............................. IMU ........................................ -->
+  <link name="imu_frame"/>
   <joint name="imu_joint" type="fixed">
-    <parent link="base_link" />
-    <child link="imu_frame" />
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.08" />
+    <parent link="base_link"/>
+    <child link="imu_frame"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.08"/>
   </joint>
+  <!-- ............................. CAMERA ........................................ -->
+  <!-- .............................STEREO CAMERA ........................................ -->
+  <!-- STEREO CAMERA -->
   <link name="stereo_camera">
     <collision>
-      <origin rpy="0 0 0" xyz="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <box size="0.07 0.3 0.09" />
+        <box size="0.07 0.3 0.09"/>
       </geometry>
     </collision>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <box size="0.07 0.3 0.09" />
+        <mesh filename="meshes/kinect/d415.dae"/>
       </geometry>
-      <material name="camera_grey" />
+      <material name="black"/>
     </visual>
     <inertial>
-      <mass value="0.01" />
-      <inertia ixx="8.175e-05" ixy="0" ixz="0" iyy="1.0833333333333335e-05" iyz="0" izz="7.908333333333334e-05" />
+      <mass value="0.01"/>
+      <inertia ixx="8.175e-05" ixy="0" ixz="0" iyy="1.0833333333333335e-05" iyz="0" izz="7.908333333333334e-05"/>
     </inertial>
   </link>
   <joint name="stereo_camera_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.45 0 0.027142857142857142" />
-    <parent link="base_link" />
-    <child link="stereo_camera" />
+    <origin rpy="0 0 0" xyz="0.45 0 0.027142857142857142"/>
+    <parent link="base_link"/>
+    <child link="stereo_camera"/>
   </joint>
-  <link name="stereo_camera_optical" />
+  <link name="stereo_camera_optical"/>
   <joint name="stereo_camera_optical_joint" type="fixed">
-    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0" />
-    <parent link="stereo_camera" />
-    <child link="stereo_camera_optical" />
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="stereo_camera"/>
+    <child link="stereo_camera_optical"/>
   </joint>
+  <!-- ............................. ROOF ........................................ -->
   <link name="roof_link">
     <collision>
-      <origin rpy="0 0 0" xyz="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <box size="0.9 0.64 0.015" />
+        <box size="0.9 0.64 0.015"/>
       </geometry>
     </collision>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <geometry>
-        <box size="0.9 0.64 0.015" />
-      </geometry>
-      <material name="light_grey" />
-    </visual>
     <inertial>
-      <mass value="1" />
-      <inertia ixx="0.030018749999999997" ixy="0" ixz="0" iyy="0.08335208333333333" iyz="0" izz="0.11333333333333333" />
+      <mass value="1"/>
+      <inertia ixx="0.030018749999999997" ixy="0" ixz="0" iyy="0.08335208333333333" iyz="0" izz="0.11333333333333333"/>
     </inertial>
   </link>
-  <joint name="roof_joint" type="fixed">
-    <parent link="chassis_link" />
-    <child link="roof_link" />
-    <origin rpy="0 0 0" xyz="0 0 0.16" />
+  <joint name="roof joint" type="fixed">
+    <parent link="chassis_link"/>
+    <child link="roof_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.16"/>
   </joint>
-</robot>
+  <!-- ............................. CONVEYOR ........................................ -->
+  <!-- ............................................................................... -->
+</robot>
\ No newline at end of file