We add the solid model of this sensor under the <visual> tag by following the same procedure we covered for the camera. The URDF definition is as follows:
<joint name="distance_sensor_solid_joint" type="fixed"> <axis xyz="0 1 0" /> <origin rpy="0 0 0" xyz="0 0 0" /> <parent link="base_link"/> <child link="distance_sensor_solid"/> </joint> <link name="distance_sensor_solid"> <visual> <origin xyz="0.2 0 0.155" rpy="1.570795 0 1.570795" /> <geometry> <mesh filename="package://gopigo3_description/meshes/IR_Sensor_Sharp_GP2Y_solid.stl" scale="0.005 0.005 0.005"/> </geometry> <material name="red"/> </visual> ... </link>
We can see two blocks in the preceding snippet: the <link> element to specify the solid, and the <joint> block ...
