fusion2urdf-ros2

<?xml version="1.0" ?>
<robot name="Basic_Robot" xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find Basic_Robot_description)/urdf/materials.xacro" />
<xacro:include filename="$(find Basic_Robot_description)/urdf/Basic_Robot.trans" />
<xacro:include filename="$(find Basic_Robot_description)/urdf/Basic_Robot.gazebo" />
<link name="base_link">
  <inertial>
    <origin rpy="0 0 0" xyz="0.047517484701943946 0.004858805619815502 -0.0300059480762529"/>
    <mass value="0.4424914005445932"/>
    <inertia ixx="0.000128" ixy="2e-06" ixz="-0.0" iyy="0.00046" iyz="0.0" izz="0.000341"/>
  </inertial>
  <visual>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <geometry>
      <mesh filename="package://Basic_Robot_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
  </visual>
  <collision>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <geometry>
      <mesh filename="package://Basic_Robot_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<link name="right_wheel_1">
  <inertial>
    <origin rpy="0 0 0" xyz="0.005000000000000007 4.336808689942018e-18 -0.001427613941018771"/>
    <mass value="0.015522874373267303"/>
    <inertia ixx="1e-06" ixy="0.0" ixz="-0.0" iyy="1e-06" iyz="0.0" izz="2e-06"/>
  </inertial>
  <visual>
    <origin rpy="0 0 0" xyz="-0.0 -0.005 0.06"/>
    <geometry>
      <mesh filename="package://Basic_Robot_description/meshes/right_wheel_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
  </visual>
  <collision>
    <origin rpy="0 0 0" xyz="-0.0 -0.005 0.06"/>
    <geometry>
      <mesh filename="package://Basic_Robot_description/meshes/right_wheel_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<link name="left_wheel_1">
  <inertial>
    <origin rpy="0 0 0" xyz="0.004999999999999999 0.0 0.0014276139410187671"/>
    <mass value="0.015522874373267314"/>
    <inertia ixx="1e-06" ixy="-0.0" ixz="-0.0" iyy="1e-06" iyz="0.0" izz="2e-06"/>
  </inertial>
  <visual>
    <origin rpy="0 0 0" xyz="-0.0 -0.005 -0.0"/>
    <geometry>
      <mesh filename="package://Basic_Robot_description/meshes/left_wheel_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
  </visual>
  <collision>
    <origin rpy="0 0 0" xyz="-0.0 -0.005 -0.0"/>
    <geometry>
      <mesh filename="package://Basic_Robot_description/meshes/left_wheel_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<joint name="Rev1" type="continuous">
  <origin rpy="0 0 0" xyz="0.0 0.005 -0.06"/>
  <parent link="base_link"/>
  <child link="right_wheel_1"/>
  <axis xyz="0.0 0.0 -1.0"/>
</joint>

<joint name="Rev2" type="continuous">
  <origin rpy="0 0 0" xyz="0.0 0.005 0.0"/>
  <parent link="base_link"/>
  <child link="left_wheel_1"/>
  <axis xyz="0.0 0.0 1.0"/>
</joint>

</robot>