urdf

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

    <link name="base_link">
      <visual>
        <geometry>
          <box size="0.21 0.16 0.01"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0.0 0.00 0.065"/>
        <material name="blue">
          <color rgba="0 0 .8 1"/>
        </material>
      </visual>
    </link>

    <link name="perception_deck">
      <visual>
        <geometry>
          <box size="0.11 0.16 0.01"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0.057 0 0.1695"/>
        <material name="blue">
          <color rgba="0 0 .8 1"/>
        </material>
      </visual>
    </link>


    <link name="wheel_left">
      <visual>
        <geometry>
          <cylinder length="0.027" radius="0.0345"/>
        </geometry>
        <origin rpy="1.57 0 0" xyz="-0.085 0.11 0.0345"/>
        <material name="black">
          <color rgba="0 0 0 1"/>
        </material>
      </visual>
    </link>

    <link name="wheel_right">
      <visual>
        <geometry>
          <cylinder length="0.027" radius="0.0345"/>
        </geometry>
        <origin rpy="1.57 0 0" xyz="-0.085 -0.11 0.0345"/>
        <material name="black">
          <color rgba="0 0 0 1"/>
        </material>
      </visual>
    </link>

    <link name="caster_wheel">
      <visual>
        <geometry>
          <cylinder length="0.012" radius="0.025"/>
        </geometry>
        <origin rpy="1.57 0 0" xyz="0.07 0.00 0.025"/>
        <material name="black">
          <color rgba="0 0 0 1"/>
        </material>
      </visual>
    </link>

    <link name="wheel_track">
      <visual>
        <geometry>
          <box size="0.04 0.19 0.002"/>
        </geometry>
        <origin rpy="0 0 0" xyz="-0.085 0.0 0.06"/>
        <material name="white"/>
      </visual>
    </link>

    <link name="laser">
      <visual>
        <geometry>
          <cylinder length="0.04" radius="0.04"/>
        </geometry>
        <material name="black"/>
      </visual>
    </link>

    <link name="left_pole_one">
      <visual>
        <geometry>
          <box size="0.01 0.01 0.095"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0.017 0.075 0.1175"/>
        <material name="silver">
          <color rgba="192 192 192 0.6"/>
        </material>
      </visual>
    </link>

    <link name="left_pole_two">
      <visual>
        <geometry>
          <box size="0.01 0.01 0.095"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0.08 0.075 0.1175"/>
        <material name="silver">
          <color rgba="192 192 192 0.6"/>
        </material>
      </visual>
    </link>

    <link name="right_pole_one">
      <visual>
        <geometry>
          <box size="0.01 0.01 0.095"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0.017 -0.075 0.1175"/>
        <material name="silver">
          <color rgba="192 192 192 0.6"/>
        </material>
      </visual>
    </link>

    <link name="right_pole_two">
      <visual>
        <geometry>
          <box size="0.01 0.01 0.095"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0.08 -0.075 0.1175"/>
        <material name="silver">
          <color rgba="192 192 192 0.6"/>
        </material>
      </visual>
    </link>

    <joint name="base_to_wheel_left" type="fixed">
      <parent link="base_link"/>
      <child link="wheel_left"/>
      <origin xyz="0 0 0"/>
    </joint>

    <joint name="base_to_wheel_right" type="fixed">
      <parent link="base_link"/>
      <child link="wheel_right"/>
      <origin xyz="0 0 0"/>
    </joint>

    <joint name="base_to_wheel_track" type="fixed">
      <parent link="base_link"/>
      <child link="wheel_track"/>
      <origin xyz="0 0 0"/>
    </joint>

    <joint name="base_to_caster_wheel" type="fixed">
      <parent link="base_link"/>
      <child link="caster_wheel"/>
      <origin xyz="0 0 0"/>
    </joint>

    <joint name="base_to_laser" type="fixed">
      <parent link="base_link"/>
      <child link="laser"/>
      <origin xyz="0.065 0.0 0.1960"/>
    </joint>

    <joint name="base_to_left_pole_one" type="fixed">
      <parent link="base_link"/>
      <child link="left_pole_one"/>
      <origin xyz="0 0 0"/>
    </joint>

    <joint name="base_to_left_pole_two" type="fixed">
      <parent link="base_link"/>
      <child link="left_pole_two"/>
      <origin xyz="0 0 0"/>
    </joint>

    <joint name="base_to_right_pole_one" type="fixed">
      <parent link="base_link"/>
      <child link="right_pole_one"/>
      <origin xyz="0 0 0"/>
    </joint>

    <joint name="base_to_right_pole_two" type="fixed">
      <parent link="base_link"/>
      <child link="right_pole_two"/>
      <origin xyz="0 0 0"/>
    </joint>

    <joint name="base_to_perception_deck" type="fixed">
      <parent link="base_link"/>
      <child link="perception_deck"/>
      <origin xyz="0 0 0"/>
    </joint>
  </robot>

来源：CSDN

作者：一米八零的昊哥

链接：https://blog.csdn.net/weixin_39193953/article/details/103604263