This package contains helpfull Xacro macroses for URDF.
Look in example folder for usage examples.
Macros colored_link allows to make link with identical visual settings both in rviz and gazebo.
Specify attributes color and transparency and put tag visual inside macros but without tag material. Other tags you can put in tag other.
<xacro:colored_link name="box" color="0 0.6 0" transparency="0">
<visual>
<geometry>
<box size="1 1 1" />
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
</visual>
<other>
<collision>
...
</collision>
<inertial>
...
</inertial>
...
</other>
</xacro:colored_link>
Macroses box_inertia, cylinder_inertia and sphere_inertia contains tag mass and appropriate inertia matrix based on mass and geometry.
<link name="box">
...
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<xacro:box_inertia mass="1000" size="0.8 0.8 0.8" />
</inertial>
...
</link>
Macroses simple_box, simple_cylinder and simple_sphere helps to shorten the code of links having similar geometry for visual, collision and inertia tags.
<link name="box">
<visual>
<geometry>
<box size="1 1 1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="box_material">
<color rgba="0 0.8 0 0.7"/>
</material>
</visual>
<collision>
<geometry>
<box size="1 1 1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1000"/>
<inertia ixx="166.666666667" ixy="0" ixz="0" iyy="166.666666667" iyz="0" izz="166.666666667"/>
</inertial>
</link>
<gazebo reference="box">
<visual>
<material>
<ambient>0 0.8 0 1</ambient>
<diffuse>0 0.8 0 1</diffuse>
<specular>1 1 1 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<transparency>0.3</transparency>
</visual>
</gazebo><xacro:include filename="$(find urdf_juggle)/simple_link.urdf.xacro" />
<xacro:simple_box
name="box"
color="0 0.8 0"
transparency="0.3"
size="1 1 1"
mass="1000"
>
<origin xyz="0 0 0" rpy="0 0 0" />
<other />
</xacro:simple_box>