ROSでロボットアームを動かす

test_robot.urdf

<?xml version="1.0" ?>
<robot name="test_robot">

<material name="black">
	<color rgba="0.0 0.0 0.0 1.0" />
</material>

<material name="orange">
	<color rgba="1.0 0.4 0.0 1.0" />
</material>

<link name="base"/>
<joint name="fixed" type="fixed">
	<parent link="base" />
	<child link="link1" />
</joint>

<link name="link1">
	<collision>
		<origin rpy="0 0 0" xyz="0 0 0.25" />
		<geometry>
			<box size="0.1 0.1 0.5" />
		</geometry>
	</collision>
	<visual>
		<origin rpy="0 0 0" xyz="0 0 0.25" />
		<geometry>
			<box size="0.1 0.1 0.5"/>
		</geometry>
		<material name="balck" />
	</visual>
	<inertial>
		<origin rpy="0 0 0" xyz="0 0 0.25" />
		<mass value="1" />
		<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
	</inertial>
</link>

<joint name="joint1" type="revolute">
	<parent link="link1"/>
	<child link="link2"/>
	<origin rpy="0 0 0" xyz="0 0 0.5"/>
	<axis xyz="0 0 1"/>
	<limit effort="30" lower="-2.617" upper="2.617" velocity="1.571" />
</joint>

<link name="link2">
	<collision>
		<origin rpy="0 0 0" xyz="0 0 0.25"/>
		<geometry>
			<box size="0.1 0.1 0.5"/>
		</geometry>
	</collision>
	<visual>
		<origin rpy="0 0 0" xyz="0 0 0.25"/>
		<geometry>
			<box size="0.1 0.1 0.5" />
		</geometry>
		<material name="orange"/>
	</visual>
	<inertial>
		<origin rpy="0 0 0" xyz="0 0 0.25" />
		<mass value="1"/>
		<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
	</inertial>
</link>

<joint name="joint2" type="revolute">
	<parent link="link2"/>
	<child link="link3" />
	<origin rpy="0 0 0" xyz="0 0 0.5"/>
	<axis xyz="0 1 0" />
	<limit effort="30" lower="-2.617" upper="2.617" velocity="1.571" />
</joint>

<link name="link3">
	<collision>
		<origin rpy="0 0 0" xyz="0 0 0.5"/>
		<geometry>
			<box size="0.1 0.1 1"/>
		</geometry>
	</collision>
	<visual>
		<origin rpy="0 0 0" xyz="0 0 0.5" />
		<geometry>
		<box size="0.1 0.1 1"/>
		</geometry>
		<material name="black"/>
		</visual>
		<inertial>
			<origin rpy="0 0 0" xyz="0 0 0.5" />
			<mass value="1" />
			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
		</inertial>
	</link>

	<joint name="joint3" type="revolute" >
		<parent link="link3"/>
		<child link="link4"/>
		<origin rpy="0 0 0" xyz="0 0 1.0"/>
		<axis xyz="0 1 0"/>
		<limit effort="30" lower="-2.617" upper="2.617" velocity="1.571"/>
	</joint>

	<link name="link4">
		<collision>
			<origin rpy="0 0 0" xyz="0 0 0.25"/>
			<geometry>
				<box size="0.1 0.1 0.5"/>
			</geometry>
		</collision>
		<visual>
			<origin rpy="0 0 0" xyz="0 0 0.25" />
			<geometry>
				<box size="0.1 0.1 0.5" />
			</geometry>
			<material name="orange" />
		</visual>
		<inertial>
			<origin rpy="0 0 0" xyz="0 0 0.25" />
			<mass value="1" />
			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
		</inertial>
	</link>

</robot>