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Add ctb marco #7

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Merged
ndunkelb-nasa merged 3 commits into from
Mar 19, 2026
Merged

Add ctb marco #7

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ebaec94
adding a macro option
ndunkelb-nasa Mar 3, 2026
8995768
Merge branch 'humble-devel' into add-ctb-marco
ndunkelb-nasa Mar 11, 2026
025a983
fixing mass to be 1.8kg
ndunkelb-nasa Mar 11, 2026
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59 changes: 0 additions & 59 deletions ctb/urdf/ctb.urdf
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60 changes: 60 additions & 0 deletions ctb/urdf/ctb_macro.xacro
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Original file line number Diff line number Diff line change
@@ -0,0 +1,60 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">

<xacro:macro name="ctb" params="
prefix:=''
parent:=''
*origin">

<joint name="${prefix}ctb_joint" type="floating">
<parent link="${parent}"/>
<child link="${prefix}ctb"/>
<xacro:insert_block name="origin"/>
</joint>

<link name="${prefix}ctb">
<inertial>
<mass value="1.8"/>
<inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/>
</inertial>
<!-- body -->
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-1.57 0 0"/>
<geometry>
<mesh filename="package://ctb/meshes/ctb_body.stl" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="ctb_grey">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://ctb/meshes/ctb_body.stl"/>
</geometry>
<material name="ctb_grey">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</collision>
<!-- handle -->
<visual>
<origin xyz="0.0 0.08 0.264" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://ctb/meshes/ctb_handle.stl" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="red">
<color rgba="1.0 0.0 0.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://ctb/meshes/ctb_handle.stl"/>
</geometry>
<material name="red">
<color rgba="1.0 0.0 0.0 1.0"/>
</material>
</collision>
</link>
</xacro:macro>
</robot>
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