simple_link.urdf.xacro

<?xml version="1.0"?>

<!--
	Copyright (c) 2019 Andrey Stepanov (standmit)
	
	Permission is hereby granted, free of charge, to any person obtaining a copy
	of this software and associated documentation files (the "Software"), to deal
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	furnished to do so, subject to the following conditions:
	
	The above copyright notice and this permission notice shall be included in all
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	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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	SOFTWARE.
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:include filename="$(find urdf_juggle)/colored_link.urdf.xacro" />
    <xacro:include filename="$(find urdf_juggle)/inertials.urdf.xacro" />
    
    <xacro:macro name="simple_link" params="name color transparency:=0 *geometry *origin set_collision:=True **inertial **other">
        <xacro:colored_link name="${name}" color="${color}" transparency="${transparency}">
            <visual>
                <xacro:insert_block name="geometry" />
                <xacro:insert_block name="origin" />
            </visual>
            <other>
                <xacro:if value="${set_collision}">
                    <collision>
                        <xacro:insert_block name="geometry" />
                        <xacro:insert_block name="origin" />
                    </collision>
                </xacro:if>
                <inertial>
                    <xacro:insert_block name="origin" />
                    <xacro:insert_block name="inertial" />
                </inertial>
                <xacro:insert_block name="other" />
            </other>
        </xacro:colored_link>
    </xacro:macro>
    
    <xacro:macro name="simple_box" params="name color transparency:=0 size mass *origin set_collision:=True *other">
        <xacro:simple_link name="${name}" color="${color}" transparency="${transparency}" set_collision="${set_collision}">
            <geometry>
                <box size="${size}" />
            </geometry>
            <xacro:insert_block name="origin" />
            <inertial>
                <xacro:box_inertia mass="${mass}" size="${size}" />
            </inertial>
            <xacro:insert_block name="other" />
        </xacro:simple_link>
    </xacro:macro>
    
    <xacro:macro name="simple_cylinder" params="name color transparency:=0 radius length mass *origin set_collision:=True *other">
        <xacro:simple_link name="${name}" color="${color}" transparency="${transparency}" set_collision="${set_collision}">
            <geometry>
                <cylinder radius="${radius}" length="${length}" />
            </geometry>
            <xacro:insert_block name="origin" />
            <inertial>
                <xacro:cylinder_inertia mass="${mass}" radius="${radius}" length="${length}" />
            </inertial>
            <xacro:insert_block name="other" />
        </xacro:simple_link>
    </xacro:macro>
    
    <xacro:macro name="simple_sphere" params="name color transparency:=0 radius mass *origin set_collision:=True *other">
        <xacro:simple_link name="${name}" color="${color}" transparency="${transparency}" set_collision="${set_collision}">
            <geometry>
                <sphere radius="${radius}" />
            </geometry>
            <xacro:insert_block name="origin" />
            <inertial>
                <xacro:sphere_inertia mass="${mass}" radius="${radius}" />
            </inertial>
            <xacro:insert_block name="other" />
        </xacro:simple_link>
    </xacro:macro>
</robot>