ball_shooter.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:macro name="wamv_ball_shooter" params="name:='ball_shooter' frameId:='wamv/ball_shooter' x:=0.55 y:=0.35 z:=1.4 pitch:='0' yaw:='0'">

    <link name="${namespace}/${name}_base_link">
      <visual name="${name}_base_visual">
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://vrx_gazebo/models/ball_shooter/meshes/ball_shooter_base.dae"/>
        </geometry>
      </visual>
      <inertial>
        <origin xyz="-0.02 0 0.05" rpy="0 0 0" />
        <mass value="0.5"/>
        <inertia ixx="0.00083" ixy="0.0" ixz="0.0" iyy="0.00052083" iyz="0.0" izz="0.00052083"/>
      </inertial>
    </link>

    <link name="${namespace}/${name}_launcher_link">
      <visual name="${name}_launcher_visual">
        <!-- The cylinder has a -15deg pitch. We compensate for that here.
             That way, if the user passes a 0 deg rotation the cylinder will
             be parallel to the ground -->
        <!-- <origin xyz="-0.0204 0 0.107877" rpy="0 0.261799 0" /> -->
        <origin xyz="0 0 0" rpy="0 0.261799 0" />
        <geometry>
          <mesh filename="package://vrx_gazebo/models/ball_shooter/meshes/ball_shooter_launcher.dae"/>
        </geometry>
      </visual>
      <!-- Uncomment to see the pose where the ball is teleported -->
      <!-- <visual name="${name}_visual_ball">
        <origin xyz="0.14 0 0" rpy="0 0 0" />
        <geometry>
          <sphere radius="0.0285"/>
        </geometry>
      </visual> -->
      <collision name="${name}_collision">
        <origin xyz="0 0 0" rpy="0 0.261799 0" />
        <geometry>
          <box size="0.3 0.3 0.2" />
        </geometry>
      </collision>
      <inertial>
        <origin xyz="0 0 0" rpy="0 -1.5708 0" />
        <mass value="0.5"/>
        <inertia ixx="0.001779167" ixy="0.0" ixz="0.0" iyy="0.001779167" iyz="0.0" izz="0.000225"/>
      </inertial>
    </link>

    <joint name="${namespace}/${name}_base_joint" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
      <origin xyz="${x} ${y} ${z}" rpy="0 0 ${yaw}"/>
      <parent link="${namespace}/base_link"/>
      <child link="${namespace}/${name}_base_link"/>
    </joint>
    <joint name="${namespace}/${name}_launcher_joint" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
      <origin xyz="-0.0204 0 0.107877" rpy="0 ${pitch} 0"/>
      <parent link="${namespace}/${name}_base_link"/>
      <child link="${namespace}/${name}_launcher_link"/>
    </joint>
    <gazebo>
      <plugin name="ball_shooter_plugin" filename="libball_shooter_plugin.so">
        <projectile>
          <model_name>blue_projectile</model_name>
          <link_name>link</link_name>
          <frame>wamv/ball_shooter_launcher_link</frame>
          <pose>0.14 0 0 0 0 0</pose>
        </projectile>
        <num_shots>4</num_shots>
        <shot_force>300</shot_force>
        <topic>${namespace}/${shooter_namespace}${name}/fire</topic>
      </plugin>
    </gazebo>
  </xacro:macro>
</robot>