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Below is an example of what I commented earlier, if this is what you are looking for. You will have to modify it for your specific robot of course.

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

  <!-- World Link -->
  <link name="world" />


  <!-- Dummy Link -->
  <link name="link0" />
  <joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link="link0" />
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>


  <!-- First Robot -->
  <joint name="link0_joint" type="fixed">
    <parent link="link0" />
    <child link="robot1_link1" />
    <origin xyz="0 -0.5 0" rpy="0 0 0"/>
  </joint>
  <link name="robot1_link1" />
  <joint name="robot1_joint1" type="revolute">
  <link name="robot1_link2" />
  <joint name="robot1_joint2" type="revolute">
  <link name="robot1_link3" />


  <!-- Second Robot -->
  <joint name="link0_joint" type="fixed">
    <parent link="link0" />
    <child link="robot2_link1" />
    <origin xyz="0 0.5 0" rpy="0 0 0"/>
  </joint>
  <link name="robot2_link1" />
  <joint name="robot2_joint1" type="revolute">
  <link name="robot2_link2" />
  <joint name="robot2_joint2" type="revolute">
  <link name="robot2_link3" />



</robot>