ADded burger camera urdf

Signed-off-by: kijonggil <kkjong@robotis.com>

turtlebot3_description/urdf/burger_camera.urdf.xacro

+<?xml version="1.0"?>
+<!-- TurtleBot3 Burger -->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="burger" params="prefix">
+
+  <xacro:property
+    name="meshes_file_direction"
+    value="package://turtlebot3_description/meshes/burger"/>
+
+  <link name="${prefix}base_footprint"/>
+
+  <joint name="${prefix}base_joint" type="fixed">
+    <parent link="${prefix}base_footprint"/>
+    <child link="${prefix}base_link" />
+    <origin xyz="0 0 0.010" rpy="0 0 0"/>
+  </joint>
+
+  <link name="${prefix}base_link">
+    <visual>
+      <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="${meshes_file_direction}/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="light_black"/>
+    </visual>
+
+    <collision>
+      <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.140 0.140 0.143"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="8.2573504e-01"/>
+      <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
+               iyy="2.1193702e-03" iyz="-5.0120904e-06"
+               izz="2.0064271e-03" />
+    </inertial>
+  </link>
+
+  <joint name="${prefix}wheel_left_joint" type="continuous">
+    <parent link="${prefix}base_link"/>
+    <child link="${prefix}wheel_left_link"/>
+    <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="${prefix}wheel_left_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="${meshes_file_direction}/left_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+    </inertial>
+  </link>
+
+  <joint name="${prefix}wheel_right_joint" type="continuous">
+    <parent link="${prefix}base_link"/>
+    <child link="${prefix}wheel_right_link"/>
+    <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="${prefix}wheel_right_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.57 0 0"/>
+      <geometry>
+        <mesh filename="${meshes_file_direction}/right_tire.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.018" radius="0.033"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="2.8498940e-02" />
+      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+    </inertial>
+  </link>
+
+  <joint name="${prefix}caster_back_joint" type="fixed">
+    <parent link="${prefix}base_link"/>
+    <child link="${prefix}caster_back_link"/>
+    <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
+  </joint>
+
+  <link name="${prefix}caster_back_link">
+    <collision>
+      <origin xyz="0 0.001 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.030 0.009 0.020"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.005" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="${prefix}imu_joint" type="fixed">
+    <parent link="${prefix}base_link"/>
+    <child link="${prefix}imu_link"/>
+    <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
+  </joint>
+
+  <link name="${prefix}imu_link"/>
+
+  <joint name="${prefix}scan_joint" type="fixed">
+    <parent link="${prefix}base_link"/>
+    <child link="${prefix}base_scan"/>
+    <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
+  </joint>
+
+  <link name="${prefix}base_scan">
+    <visual>
+      <origin xyz="0 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="${meshes_file_direction}/ladar.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dark"/>
+    </visual>
+
+    <collision>
+      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0315" radius="0.055"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="0.114" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+    </inertial>
+  </link>
+  
+  <joint name="${prefix}camera_joint" type="fixed">
+    <origin xyz="0.040 -0.011 0.130" rpy="0 0 0"/>
+    <parent link="${prefix}base_link"/>
+    <child link="${prefix}camera_link"/>
+  </joint>
+
+  <link name="${prefix}camera_link">
+    <collision>
+      <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.030 0.027"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="${prefix}camera_rgb_joint" type="fixed">
+    <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
+    <parent link="${prefix}camera_link"/>
+    <child link="${prefix}camera_rgb_frame"/>
+  </joint>
+  <link name="${prefix}camera_rgb_frame"/>
+
+  <joint name="${prefix}camera_rgb_optical_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+    <parent link="${prefix}camera_rgb_frame"/>
+    <child link="${prefix}camera_rgb_optical_frame"/>
+  </joint>
+  <link name="${prefix}camera_rgb_optical_frame"/>
+
+  </xacro:macro>
+
+</robot>