using macros now

src/robot_description/CMakeLists.txt

@@ -41,7 +41,6 @@ install(
 # Convert xarco to urdf on BUILD this is pretty bad but it works
 add_custom_target(ConvertXacro ALL
   COMMAND xacro ${CMAKE_CURRENT_SOURCE_DIR}/models/master_ASM/urdf/master_ASM.urdf.xacro > ${CMAKE_CURRENT_BINARY_DIR}/master_ASM.urdf
-  COMMAND xacro ${CMAKE_CURRENT_SOURCE_DIR}/models/master_ASM/urdf/robot.urdf.xacro > ${CMAKE_CURRENT_BINARY_DIR}/robot.urdf
   COMMENT "Generating URDF from Xacro"
 )
 
@@ -50,9 +49,6 @@ install(CODE "
   execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different
     ${CMAKE_CURRENT_BINARY_DIR}/master_ASM.urdf
     ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/models/master_ASM/urdf/master_ASM.urdf)
-  execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different
-    ${CMAKE_CURRENT_BINARY_DIR}/robot.urdf
-    ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/models/master_ASM/urdf/robot.urdf)
 ")
 
 ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")

src/robot_description/launch/robot_description.launch.py

@@ -20,7 +20,7 @@ def generate_launch_description():
     pkg_project_description = get_package_share_directory("robot_description")
     # Load the SDF file from "description" package
     xacro_path = PathJoinSubstitution(
-        [pkg_project_description, "models", "master_ASM", "urdf", "robot.urdf.xacro"]
+        [pkg_project_description, "models", "master_ASM", "urdf", "master_ASM.urdf.xacro"]
     )
 
     robot_state_publisher = Node(

src/robot_description/models/master_ASM/model.config

@@ -2,5 +2,5 @@
 <model>
   <name>master_ASM</name>
   <version>1.0</version>
-  <sdf version='1.6'>urdf/robot.urdf</sdf>
+  <sdf version='1.6'>urdf/master_ASM.urdf</sdf>
 </model>

src/robot_description/models/master_ASM/urdf/macros.urdf.xacro

@@ -1,9 +1,60 @@
 <?xml version="1.0" encoding="utf-8"?>
 
-<robot name="macros" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-<xacro:macro name="wheel" params="name">
+<xacro:macro name="wheel_link" params="name pretty:=^|true wheelRadius:=^ wheelWidth:=^ wheelMass:=^ *origin">
 
+    <link name="${name}">
+        <inertial>
+            <xacro:insert_block name="origin" />
+            <mass value="${wheelMass}" />
+            <inertia
+                ixx="0.0059462"
+                ixy="0"
+                ixz="0"
+                iyy="0.0059468"
+                iyz="0"
+                izz="0.0072591" />
+        </inertial>
 
+        <visual>
+            <xacro:insert_block name="origin" />
 
-</xacro:macro>
+            <geometry>
+            <xacro:if value="${pretty}">
+                <mesh
+                filename="$(find robot_description)/models/master_ASM/meshes/wheel_Link.STL" />
+            </xacro:if>
+            <xacro:unless value="${pretty}">
+                <cylinder radius="${wheelRadius}" length="${wheelWidth}" />
+            </xacro:unless>
+            </geometry>
+            <material name="grey" />
+        </visual>
+
+        <collision>
+            <xacro:insert_block name="origin" />
+            <geometry>
+                <cylinder radius="${wheelRadius}" length="${wheelWidth}" />
+            </geometry>
+        </collision>
+    </link>
+
+
+</xacro:macro>
+
+<xacro:macro name="wheel_joint" params="wheel x y z">
+    <joint
+        name="${str(wheel) + '_joint'}"
+        type="continuous">
+        <origin
+            xyz="${x} ${y} -${z}"
+            rpy="${pi/2} 0 ${pi/2}" />
+        <parent link="frame_link" />
+        <child link="${str(wheel) + '_link'}" />
+        <axis
+        xyz="0 0 -1" />
+    </joint>
+</xacro:macro>
+
+</robot>