Revision history [back]

Start with the following example:

<robot name="robot">

<link name="base_link">
  <inertial>
    <mass value="1"/>
    <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
    <origin/>
  </inertial>
  <visual>
    <origin xyz="0.1 0 0.125" />
    <geometry>
        <box size=".50 .50 .250" />
    </geometry>
    <material name="red">
      <color rgba="1 0.47 0.13 1" />
    </material>
  </visual>

  <collision>
    <origin xyz="0.1 0 0.125" />
    <geometry>
      <box size=".50 .250 .50" />
    </geometry>
    <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  </collision>
</link>

save this as robot_model.xml

use following launch file with robot_state_publisher

<launch>
        <param name="robot_description" command="cat $(find package_name)/robot_model.xml" />
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />           
</launch>