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autonomos.gv
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digraph G {
node [shape=box];
"base_link" [label="base_link"];
"back_left_wheel_link" [label="back_left_wheel_link"];
"back_right_wheel_link" [label="back_right_wheel_link"];
"front_link" [label="front_link"];
"front_left_bar_link" [label="front_left_bar_link"];
"ackermann_bar_link" [label="ackermann_bar_link"];
"front_left_wheel_link" [label="front_left_wheel_link"];
"front_right_bar_link" [label="front_right_bar_link"];
"front_right_wheel_link" [label="front_right_wheel_link"];
"steer_link" [label="steer_link"];
"ackermann_bar_link" [label="ackermann_bar_link"];
"laser_link" [label="laser_link"];
node [shape=ellipse, color=blue, fontcolor=blue];
"base_link" -> "back_left_wheel_joint" [label="xyz: -0.16 0.1 -0.05 \nrpy: 1.57 -0 0"]
"back_left_wheel_joint" -> "back_left_wheel_link"
"base_link" -> "back_right_wheel_joint" [label="xyz: -0.16 -0.1 -0.05 \nrpy: 1.57 -0 0"]
"back_right_wheel_joint" -> "back_right_wheel_link"
"base_link" -> "front_joint" [label="xyz: 0.16 0 -0.05 \nrpy: 0 -0 0"]
"front_joint" -> "front_link"
"front_link" -> "front_left_bar_joint" [label="xyz: -0.02 0.06 0 \nrpy: 0 -0 0"]
"front_left_bar_joint" -> "front_left_bar_link"
"front_left_bar_link" -> "ackermann_left_bar_joint" [label="xyz: -0.02 -0.06 0 \nrpy: 0 -0 0"]
"ackermann_left_bar_joint" -> "ackermann_bar_link"
"front_left_bar_link" -> "front_left_wheel_joint" [label="xyz: 0 0.04 0 \nrpy: 1.57 -0 0"]
"front_left_wheel_joint" -> "front_left_wheel_link"
"front_link" -> "front_right_bar_joint" [label="xyz: -0.02 -0.06 0 \nrpy: 0 -0 0"]
"front_right_bar_joint" -> "front_right_bar_link"
"front_right_bar_link" -> "front_right_wheel_joint" [label="xyz: 0 -0.04 0 \nrpy: 1.57 -0 0"]
"front_right_wheel_joint" -> "front_right_wheel_link"
"front_link" -> "steer_joint" [label="xyz: -0.02 0 0 \nrpy: 0 -0 0"]
"steer_joint" -> "steer_link"
"steer_link" -> "ackermann_left_bar_joint" [label="xyz: -0.02 -0.06 0 \nrpy: 0 -0 0"]
"ackermann_left_bar_joint" -> "ackermann_bar_link"
"base_link" -> "laser_joint" [label="xyz: 0 0 0.07 \nrpy: 0 -0 0"]
"laser_joint" -> "laser_link"
}