agv_pro_ros2/agv_pro_description/urdf/agv_pro.urdf

<?xml version="1.0" encoding="utf-8"?>
<robot name="AGV pro" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link" />
    <origin xyz="0 0 0.020" rpy="0 0 0"/>
  </joint>

  <link name="base_link">
    <inertial>
      <origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
      <mass value="19.236" />
      <inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458"
               iyy="0.24191" iyz="0.0044629"
               izz="0.33755" />
    </inertial>

    <visual>
      <origin xyz="0 0 0"
              rpy="0 0 0" />
      <geometry>
        <mesh filename="package://agv_pro_description/meshes/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://agv_pro_description/meshes/base_link.stl" />
      </geometry>
    </collision>
  </link>

  <link name="right_rear_wheel_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="0.21659" />
      <inertia ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
               iyy="0.00097519" iyz="-2.3635E-07"
               izz="0.00051178" />
    </inertial>

    <visual>
      <origin xyz="0 0 0"
              rpy="0 0 0" />
      <geometry>
        <mesh filename="package://agv_pro_description/meshes/wheel_rb_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>

    <collision>
      <origin xyz="0 0 0"
              rpy="0 0 0" />
      <geometry>
        <mesh filename="package://agv_pro_description/meshes/wheel_rb_link.stl" />
      </geometry>
    </collision>
  </link>
  
  <joint name="right_rear_wheel_joint" type="continuous">
    <origin xyz="-0.171806101587598 -0.179900399999999 0.0518836514526621" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="right_rear_wheel_link" />
    <axis xyz="0 1 0" />
  </joint>
  
  <link name="right_front_wheel_link">
    <inertial>
      <origin xyz="6.6563E-05 -0.019725 8.3836E-05" rpy="0 0 0" />
      <mass value="0.21659122149244" />
      <inertia ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
               iyy="0.00097519" iyz="-2.3635E-07"
               izz="0.00051178" />
    </inertial>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://agv_pro_description/meshes/wheel_rf_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://agv_pro_description/meshes/wheel_rf_link.stl" />
      </geometry>
    </collision>
  </link>
  
  <joint name="right_front_wheel_joint" type="continuous">
    <origin xyz="-0.17181 0.1799 0.051884"
      rpy="0 0 0" />
    <parent link="base_link" />
    <child link="right_front_wheel_link" />
    <axis xyz="0 1 0" />
  </joint>
  
  <link name="left_front_wheel_link">
    <inertial>
      <origin xyz="1.4671E-06 -0.019803 4.3218E-06" rpy="0 0 0" />
      <mass value="0.3015" />
      <inertia ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07"
               iyy="0.00099948" iyz="7.5332E-08"
               izz="0.00052362" />
    </inertial>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://agv_pro_description/meshes/wheel_lf_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://agv_pro_description/meshes/wheel_lf_link.stl" />
      </geometry>
    </collision>
  </link>
  
  <joint name="left_front_wheel_joint" type="continuous">
    <origin xyz="0.17128 0.1799 0.052"
      rpy="0 0 0" />
    <parent link="base_link" />
    <child link="left_front_wheel_link" />
    <axis xyz="0 1 0" />
  </joint>
  
  <link name="left_rear_wheel_link">
    <inertial>
      <origin xyz="-2.4454E-06 0.019725 -4.3121E-06" rpy="0 0 0" />
      <mass value="0.29613" />
      <inertia ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07"
               iyy="0.0009752" iyz="1.173E-07"
               izz="0.00051131" />
    </inertial>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://agv_pro_description/meshes/wheel_lb_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://agv_pro_description/meshes/wheel_lb_link.stl" />
      </geometry>
    </collision>
  </link>
  
  <joint name="left_rear_wheel_joint" type="continuous">
    <origin xyz="0.17128 -0.1799 0.052" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="left_rear_wheel_link" />
    <axis xyz="0 1 0" />
  </joint>
  
  <link name="laser_link">
    <inertial>
      <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
      <mass value="0.049095" />
      <inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05"
               iyz="-4.2154E-09"
               izz="3.4612E-05" />
    </inertial>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://agv_pro_description/meshes/laser_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://agv_pro_description/meshes/laser_link.stl" />
      </geometry>
    </collision>
  </link>
  
  <joint name="lidar_joint" type="fixed">
    <origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="laser_link" />
  </joint>
</robot>