首先要加载之前搭建的小车模型。以下几个xacro文件在原有的模型基础上增加了惯性矩阵和碰撞检测以及功能仿真模块。

<robot name="my_base" xmlns:xacro="http://www.ros.org/wiki/xacro">      <xacro:property name="PI" value="3.1415926"/>      <material name="black">         <color rgba="0.0 0.0 0.0 1.0" />     material>      <xacro:property name="base_footprint_radius" value="0.001" />      <xacro:property name="base_link_radius" value="0.1" />      <xaro:property name="base_link_length" value="0.08" /> 
    <xacro:property name="earth_space" value="0.015" /> 
    <xacro:property name="base_link_m" value="0.5" /> 

    <link name="base_footprint">
      <visual>
        <geometry>
          <sphere radius="${base_footprint_radius}" />
        geometry>
      visual>
    link>

    <link name="base_link">
      <visual>
        <geometry>
          <cylinder radius="${base_link_radius}" length="${base_link_length}" />
        geometry>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <material name="yellow">
          <color rgba="0.5 0.3 0.0 0.5" />
        material>
      visual>
      <collision>
        <geometry>
          <cylinder radius="${base_link_radius}" length="${base_link_length}" />
        geometry>
        <origin xyz="0 0 0" rpy="0 0 0" />
      collision>
      <xacro:cylinder_inertial_matrix m="${base_link_m}" r="${base_link_radius}" h="${base_link_length}" />

    link>


    <joint name="base_link2base_footprint" type="fixed">
      <parent link="base_footprint" />
      <child link="base_link" />
      <origin xyz="0 0 ${earth_space + base_link_length / 2 }" />
    joint>
    <gazebo reference="base_link">
        <material>Gazebo/Yellowmaterial>
    gazebo>


    <xacro:property name="wheel_radius" value="0.0325" />
    <xacro:property name="wheel_length" value="0.015" />
    <xacro:property name="wheel_m" value="0.05" /> 


    <xacro:macro name="add_wheels" params="name flag">
      <link name="${name}_wheel">
        <visual>
          <geometry>
            <cylinder radius="${wheel_radius}" length="${wheel_length}" />
          geometry>
          <origin xyz="0.0 0.0 0.0" rpy="${PI / 2} 0.0 0.0" />
          <material name="black" />
        visual>
        <collision>
          <geometry>
            <cylinder radius="${wheel_radius}" length="${wheel_length}" />
          geometry>
          <origin xyz="0.0 0.0 0.0" rpy="${PI / 2} 0.0 0.0" />
        collision>
        <xacro:cylinder_inertial_matrix m="${wheel_m}" r="${wheel_radius}" h="${wheel_length}" />

      link>

      <joint name="${name}_wheel2base_link" type="continuous">
        <parent link="base_link" />
        <child link="${name}_wheel" />
        <origin xyz="0 ${flag * base_link_radius} ${-(earth_space + base_link_length / 2 - wheel_radius) }" />
        <axis xyz="0 1 0" />
      joint>

      <gazebo reference="${name}_wheel">
        <material>Gazebo/Redmaterial>
      gazebo>

    xacro:macro>
    <xacro:add_wheels name="left" flag="-1" />
    <xacro:add_wheels name="right" flag="1" />

    <xacro:property name="support_wheel_radius" value="0.0075" /> 
    <xacro:property name="support_wheel_m" value="0.03" />

   
    <xacro:macro name="add_support_wheel" params="name flag" >
      <link name="${name}_wheel">
        <visual>
            <geometry>
                <sphere radius="${support_wheel_radius}" />
            geometry>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <material name="black" />
        visual>
        <collision>
            <geometry>
                <sphere radius="${support_wheel_radius}" />
            geometry>
            <origin xyz="0 0 0" rpy="0 0 0" />
        collision>
        <xacro:sphere_inertial_matrix m="${support_wheel_m}" r="${support_wheel_radius}" />
      link>

      <joint name="${name}_wheel2base_link" type="continuous">
          <parent link="base_link" />
          <child link="${name}_wheel" />
          <origin xyz="${flag * (base_link_radius - support_wheel_radius)} 0 ${-(base_link_length / 2 + earth_space / 2)}" />
          <axis xyz="1 1 1" />
      joint>
      <gazebo reference="${name}_wheel">
        <material>Gazebo/Redmaterial>
      gazebo>
    xacro:macro>

    <xacro:add_support_wheel name="front" flag="1" />
    <xacro:add_support_wheel name="back" flag="-1" />
robot>

<robot name="my_camera" xmlns:xacro="http://wiki.ros.org/xacro">

    <xacro:property name="camera_length" value="0.01" /> 
    <xacro:property name="camera_width" value="0.025" />
    <xacro:property name="camera_height" value="0.025" /> 
    <xacro:property name="camera_x" value="0.08" /> 
    <xacro:property name="camera_y" value="0.0" /> 
    <xacro:property name="camera_z" value="${base_link_length / 2 + camera_height / 2}" /> 
    <xacro:property name="camera_m" value="0.01" /> 

    <link name="camera">
        <visual>
            <geometry>
                <box size="${camera_length} ${camera_width} ${camera_height}" />
            geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="black" />
        visual>
        <collision>
            <geometry>
                <box size="${camera_length} ${camera_width} ${camera_height}" />
            geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        collision>
        <xacro:Box_inertial_matrix m="${camera_m}" l="${camera_length}" w="${camera_width}" h="${camera_height}" />
    link>

    <joint name="camera2base_link" type="fixed">
        <parent link="base_link" />
        <child link="camera" />
        <origin xyz="${camera_x} ${camera_y} ${camera_z}" />
    joint>
    <gazebo reference="camera">
        <material>Gazebo/Bluematerial>
    gazebo>
robot>