Initial commit of duru_urdf package

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>

config/display.rviz

@@ -0,0 +1,237 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 617
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        back_motor_left_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        back_motor_right_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        back_wheel_left_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        back_wheel_right_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_motor_left_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_motor_right_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_wheel_left_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_wheel_right_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        back_motor_left_2:
+          Value: true
+        back_motor_right_2:
+          Value: true
+        back_wheel_left_2:
+          Value: true
+        back_wheel_right_2:
+          Value: true
+        base_link:
+          Value: true
+        front_motor_left_2:
+          Value: true
+        front_motor_right_2:
+          Value: true
+        front_wheel_left_2:
+          Value: true
+        front_wheel_right_2:
+          Value: true
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        base_link:
+          back_motor_right_2:
+            back_wheel_right_2:
+              {}
+          back_wheel_left_2:
+            back_motor_left_2:
+              {}
+          front_motor_left_2:
+            front_wheel_left_2:
+              {}
+          front_motor_right_2:
+            front_wheel_right_2:
+              {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 0.8402727246284485
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6097970008850098
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.5103846192359924
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 201
+  Y: 69

launch/display.launch.py

@@ -0,0 +1,64 @@
+from launch_ros.actions import Node
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition, UnlessCondition
+import xacro
+import os
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    share_dir = get_package_share_directory('duru_urdf_description')
+
+    xacro_file = os.path.join(share_dir, 'urdf', 'duru_urdf.xacro')
+    robot_description_config = xacro.process_file(xacro_file)
+    robot_urdf = robot_description_config.toxml()
+
+    rviz_config_file = os.path.join(share_dir, 'config', 'display.rviz')
+
+    gui_arg = DeclareLaunchArgument(
+        name='gui',
+        default_value='True'
+    )
+
+    show_gui = LaunchConfiguration('gui')
+
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        parameters=[
+            {'robot_description': robot_urdf}
+        ]
+    )
+
+    joint_state_publisher_node = Node(
+        condition=UnlessCondition(show_gui),
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher'
+    )
+
+    joint_state_publisher_gui_node = Node(
+        condition=IfCondition(show_gui),
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+        name='joint_state_publisher_gui'
+    )
+
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_config_file],
+        output='screen'
+    )
+
+    return LaunchDescription([
+        gui_arg,
+        robot_state_publisher_node,
+        joint_state_publisher_node,
+        joint_state_publisher_gui_node,
+        rviz_node
+    ])

launch/gazebo.launch.py

@@ -0,0 +1,73 @@
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+import os
+import xacro
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    share_dir = get_package_share_directory('duru_urdf_description')
+
+    xacro_file = os.path.join(share_dir, 'urdf', 'duru_urdf.xacro')
+    robot_description_config = xacro.process_file(xacro_file)
+    robot_urdf = robot_description_config.toxml()
+
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        parameters=[
+            {'robot_description': robot_urdf}
+        ]
+    )
+
+    joint_state_publisher_node = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher'
+    )
+
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            PathJoinSubstitution([
+                FindPackageShare('gazebo_ros'),
+                'launch',
+                'gzserver.launch.py'
+            ])
+        ]),
+        launch_arguments={
+            'pause': 'true'
+        }.items()
+    )
+
+    gazebo_client = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            PathJoinSubstitution([
+                FindPackageShare('gazebo_ros'),
+                'launch',
+                'gzclient.launch.py'
+            ])
+        ])
+    )
+
+    urdf_spawn_node = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=[
+            '-entity', 'duru_urdf',
+            '-topic', 'robot_description'
+        ],
+        output='screen'
+    )
+
+    return LaunchDescription([
+        robot_state_publisher_node,
+        joint_state_publisher_node,
+        gazebo_server,
+        gazebo_client,
+        urdf_spawn_node,
+    ])

package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+<name>duru_urdf_description</name>
+  <version>0.0.0</version>
+<description>The duru_urdf_description package</description>
+  <maintainer email="todo@todo.com">author</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>xacro</depend>
+  <depend>rviz2</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>joint_state_publisher</depend>
+  <depend>joint_state_publisher_gui</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/duru_urdf_description
+[install]
+install-scripts=$base/lib/duru_urdf_description

setup.py

@@ -0,0 +1,31 @@
+from setuptools import setup
+import os
+from glob import glob
+
+package_name = 'duru_urdf_description'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
+        (os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
+        (os.path.join('share', package_name, 'meshes'), glob('meshes/*')),
+        (os.path.join('share', package_name, 'config'), glob('config/*'))
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='author',
+    maintainer_email='todo@todo.com',
+    description='The ' + package_name + ' package',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

urdf/duru_urdf.gazebo

@@ -0,0 +1,59 @@
+<?xml version="1.0" ?>
+<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+<xacro:property name="body_color" value="Gazebo/Silver" />
+
+<gazebo>
+  <plugin name="control" filename="libgazebo_ros_control.so"/>
+</gazebo>
+<gazebo reference="base_link">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <self_collide>true</self_collide>
+  <gravity>true</gravity>
+</gazebo>
+
+<gazebo reference="fwl_1_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <self_collide>true</self_collide>
+</gazebo>
+
+<gazebo reference="fwr_1_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <self_collide>true</self_collide>
+</gazebo>
+
+<gazebo reference="rwr_1_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <self_collide>true</self_collide>
+</gazebo>
+
+<gazebo reference="rwl_1_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <self_collide>true</self_collide>
+</gazebo>
+
+<gazebo reference="imu_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <self_collide>true</self_collide>
+</gazebo>
+
+<gazebo reference="lidar_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <self_collide>true</self_collide>
+</gazebo>
+
+</robot>

urdf/duru_urdf.trans

@@ -0,0 +1,48 @@
+<?xml version="1.0" ?>
+<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+<transmission name="fwl_joint_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="fwl_joint">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="fwl_joint_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="fwr_joint_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="fwr_joint">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="fwr_joint_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="rwr_joint_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="rwr_joint">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="rwr_joint_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="rwl_joint_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="rwl_joint">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="rwl_joint_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+</robot>

urdf/duru_urdf.xacro

@@ -0,0 +1,194 @@
+<?xml version="1.0" ?>
+<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+<xacro:include filename="$(find duru_urdf_description)/urdf/materials.xacro" />
+<xacro:include filename="$(find duru_urdf_description)/urdf/duru_urdf.trans" />
+<xacro:include filename="$(find duru_urdf_description)/urdf/duru_urdf.gazebo" />
+<link name="base_link">
+  <inertial>
+    <origin xyz="0.0025063996888676993 6.18864581074269e-17 0.144708365482515" rpy="0 0 0"/>
+    <mass value="203.16003115712493"/>
+    <inertia ixx="4.307522" iyy="8.227537" izz="9.633563" ixy="-0.0" iyz="0.0" ixz="-0.093878"/>
+  </inertial>
+  <visual>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver"/>
+  </visual>
+  <collision>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="fwl_1_1">
+  <inertial>
+    <origin xyz="2.7755575615628914e-17 0.03249999999999997 6.938893903907228e-18" rpy="0 0 0"/>
+    <mass value="3.2845580573678106"/>
+    <inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="-0.0" iyz="-0.0" ixz="0.0"/>
+  </inertial>
+  <visual>
+    <origin xyz="-0.184 -0.255 -0.0615" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/fwl_1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver"/>
+  </visual>
+  <collision>
+    <origin xyz="-0.184 -0.255 -0.0615" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/fwl_1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="fwr_1_1">
+  <inertial>
+    <origin xyz="-5.551115123125783e-17 -0.03249999999999997 -2.0816681711721685e-17" rpy="0 0 0"/>
+    <mass value="3.2845580573678106"/>
+    <inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="0.0" iyz="0.0" ixz="-0.0"/>
+  </inertial>
+  <visual>
+    <origin xyz="-0.184 0.255 -0.0615" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/fwr_1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver"/>
+  </visual>
+  <collision>
+    <origin xyz="-0.184 0.255 -0.0615" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/fwr_1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="rwr_1_1">
+  <inertial>
+    <origin xyz="-2.7755575615628914e-17 -0.03249999999999997 -1.3877787807814457e-17" rpy="0 0 0"/>
+    <mass value="3.2845580573678084"/>
+    <inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="-0.0" iyz="-0.0" ixz="0.0"/>
+  </inertial>
+  <visual>
+    <origin xyz="0.184 0.255 -0.0615" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/rwr_1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver"/>
+  </visual>
+  <collision>
+    <origin xyz="0.184 0.255 -0.0615" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/rwr_1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="rwl_1_1">
+  <inertial>
+    <origin xyz="0.0 0.03249999999999997 -6.938893903907228e-18" rpy="0 0 0"/>
+    <mass value="3.2845580573678084"/>
+    <inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="0.0" iyz="0.0" ixz="-0.0"/>
+  </inertial>
+  <visual>
+    <origin xyz="0.184 -0.255 -0.0615" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/rwl_1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver"/>
+  </visual>
+  <collision>
+    <origin xyz="0.184 -0.255 -0.0615" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/rwl_1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="imu_1">
+  <inertial>
+    <origin xyz="0.0 0.0 0.010000000000000064" rpy="0 0 0"/>
+    <mass value="0.32813000000000003"/>
+    <inertia ixx="9.4e-05" iyy="5e-05" izz="0.000122" ixy="-0.0" iyz="-0.0" ixz="-0.0"/>
+  </inertial>
+  <visual>
+    <origin xyz="-0.0 -0.0 -0.286" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/imu_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver"/>
+  </visual>
+  <collision>
+    <origin xyz="-0.0 -0.0 -0.286" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/imu_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="lidar_1">
+  <inertial>
+    <origin xyz="0.007899963334043858 -5.87501579063704e-17 0.021704966301194728" rpy="0 0 0"/>
+    <mass value="1.4388945419522388"/>
+    <inertia ixx="0.000754" iyy="0.00074" izz="0.000846" ixy="-0.0" iyz="-0.0" ixz="3.9e-05"/>
+  </inertial>
+  <visual>
+    <origin xyz="-0.227349 0.0 -0.37207" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/lidar_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver"/>
+  </visual>
+  <collision>
+    <origin xyz="-0.227349 0.0 -0.37207" rpy="0 0 0"/>
+    <geometry>
+      <mesh filename="file://$(find duru_urdf_description)/meshes/lidar_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<joint name="fwl_joint" type="continuous">
+  <origin xyz="0.184 0.255 0.0615" rpy="0 0 0"/>
+  <parent link="base_link"/>
+  <child link="fwl_1_1"/>
+  <axis xyz="0.0 1.0 0.0"/>
+</joint>
+
+<joint name="fwr_joint" type="continuous">
+  <origin xyz="0.184 -0.255 0.0615" rpy="0 0 0"/>
+  <parent link="base_link"/>
+  <child link="fwr_1_1"/>
+  <axis xyz="0.0 -1.0 0.0"/>
+</joint>
+
+<joint name="rwr_joint" type="continuous">
+  <origin xyz="-0.184 -0.255 0.0615" rpy="0 0 0"/>
+  <parent link="base_link"/>
+  <child link="rwr_1_1"/>
+  <axis xyz="0.0 -1.0 0.0"/>
+</joint>
+
+<joint name="rwl_joint" type="continuous">
+  <origin xyz="-0.184 0.255 0.0615" rpy="0 0 0"/>
+  <parent link="base_link"/>
+  <child link="rwl_1_1"/>
+  <axis xyz="0.0 1.0 0.0"/>
+</joint>
+
+<joint name="imu_joint" type="fixed">
+  <origin xyz="0.0 0.0 0.286" rpy="0 0 0"/>
+  <parent link="base_link"/>
+  <child link="imu_1"/>
+</joint>
+
+<joint name="lidar_joint" type="fixed">
+  <origin xyz="0.227349 0.0 0.37207" rpy="0 0 0"/>
+  <parent link="base_link"/>
+  <child link="lidar_1"/>
+</joint>
+
+</robot>

urdf/materials.xacro

@@ -0,0 +1,8 @@
+<?xml version="1.0" ?>
+<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+<material name="silver">
+  <color rgba="0.700 0.700 0.700 1.000"/>
+</material>
+
+</robot>