ros三层小车机器人xacro代码

以下是一个基于ROS的三层小车机器人的xacro代码示例，可以根据实际需要进行修改：

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:include filename="$(find xacro)/xacro.py" />
  
  <!-- 定义小车机器人类型 -->
  <xacro:property name="robot_name" value="three_layer_robot" />
  <xacro:property name="robot_description" value="This is a three-layer robot." />
  
  <!-- 定义小车机器人尺寸和形状 -->
  <xacro:property name="robot_width" value="0.5" />
  <xacro:property name="robot_length" value="0.8" />
  <xacro:property name="robot_height" value="0.4" />
  
  <!-- 定义小车机器人底盘 -->
  <xacro:macro name="base_link">
    <link name="${robot_name}_base_link">
      <visual>
        <geometry>
          <box size="${robot_width} ${robot_length} ${robot_height}" />
        </geometry>
        <material name="blue">
          <color rgba="0 0.5 1 1" />
        </material>
      </visual>
    </link>
  </xacro:macro>
  
  <!-- 定义小车机器人轮子 -->
  <xacro:macro name="wheel">
    <joint name="${robot_name}_wheel_joint" type="continuous">
      <parent link="${robot_name}_base_link" />
      <child link="${robot_name}_wheel_link" />
      <origin xyz="0 0 0" rpy="0 0 0" />
      <axis xyz="0 0 1" />
    </joint>
    <link name="${robot_name}_wheel_link">
      <visual>
        <geometry>
          <cylinder radius="0.1" length="0.05" />
        </geometry>
        <material name="black">
          <color rgba="0 0 0 1" />
        </material>
      </visual>
    </link>
  </xacro:macro>
  
  <!-- 定义小车机器人层级和运动结构 -->
  <xacro:macro name="robot">
    <xacro:include filename="$(find urdf)/urdf.xacro" />
    <robot name="${robot_name}" description="${robot_description}">
      <xacro:base_link />
      
      <!-- 第一层 -->
      <joint name="${robot_name}_layer1_joint" type="prismatic">
        <parent link="${robot_name}_base_link" />
        <child link="${robot_name}_layer1_link" />
        <origin xyz="0 0 ${robot_height / 2}" rpy="0 0 0" />
        <axis xyz="0 0 1" />
        <limit lower="0" upper="0.2" effort="1000" velocity="0.1" />
      </joint>
      <link name="${robot_name}_layer1_link">
        <visual>
          <geometry>
            <box size="${robot_width} ${robot_length} 0.1" />
          </geometry>
          <material name="gray">
            <color rgba="0.5 0.5 0.5 1" />
          </material>
        </visual>
      </link>
      
      <!-- 第二层 -->
      <joint name="${robot_name}_layer2_joint" type="prismatic">
        <parent link="${robot_name}_layer1_link" />
        <child link="${robot_name}_layer2_link" />
        <origin xyz="0 0 0" rpy="0 0 0" />
        <axis xyz="0 0 1" />
        <limit lower="0" upper="0.2" effort="1000" velocity="0.1" />
      </joint>
      <link name="${robot_name}_layer2_link">
        <visual>
          <geometry>
            <box size="${robot_width} ${robot_length} 0.1" />
          </geometry>
          <material name="gray">
            <color rgba="0.5 0.5 0.5 1" />
          </material>
        </visual>
      </link>
      
      <!-- 第三层 -->
      <joint name="${robot_name}_layer3_joint" type="prismatic">
        <parent link="${robot_name}_layer2_link" />
        <child link="${robot_name}_layer3_link" />
        <origin xyz="0 0 0" rpy="0 0 0" />
        <axis xyz="0 0 1" />
        <limit lower="0" upper="0.2" effort="1000" velocity="0.1" />
      </joint>
      <link name="${robot_name}_layer3_link">
        <visual>
          <geometry>
            <box size="${robot_width} ${robot_length} 0.1" />
          </geometry>
          <material name="gray">
            <color rgba="0.5 0.5 0.5 1" />
          </material>
        </visual>
      </link>
      
      <!-- 运动结构 -->
      <joint name="${robot_name}_wheel1_joint" type="continuous">
        <parent link="${robot_name}_layer3_link" />
        <child link="${robot_name}_wheel1_link" />
        <origin xyz="0.2 0 0" rpy="0 0 0" />
        <axis xyz="0 0 1" />
      </joint>
      <link name="${robot_name}_wheel1_link">
        <xacro:wheel />
      </link>

      <joint name="${robot_name}_wheel2_joint" type="continuous">
        <parent link="${robot_name}_layer3_link" />
        <child link="${robot_name}_wheel2_link" />
        <origin xyz="-0.2 0 0" rpy="0 0 0" />
        <axis xyz="0 0 1" />
      </joint>
      <link name="${robot_name}_wheel2_link">
        <xacro:wheel />
      </link>
    </robot>
  </xacro:macro>
  
  <!-- 加载小车机器人 -->
  <xacro:robot />
</robot>

此代码定义了一个名为“three_layer_robot”的三层小车机器人，具有基础底盘、三个升降层和两个轮子。可以根据需要对其进行修改和扩展。