URDF doc for tests on rviz2

ros2_description_bolt/gazebo/system_bolt.materials.xacro

+<?xml version="1.0"?>
+<!--
+Copied from ROS1 example -
+https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/materials.xacro
+-->
+<robot>
+
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+
+  <material name="orange">
+    <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
+  </material>
+
+  <material name="brown">
+    <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
+  </material>
+
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="yellow">
+    <color rgba="1.0 1.0 0.0 1.0"/>
+  </material>
+
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+
+</robot>

ros2_description_bolt/urdf/system_bolt.urdf.xacro

-<!-- Adapted from bolt.urdf.xacro of ODRI (robot_properties_bolt) https://github.com/open-dynamic-robot-initiative/robot_properties_bolt/blob/master/src/robot_properties_bolt/resources/xacro/bolt.urdf.xacro -->
+<?xml version="1.0"?>
+<!-- Revolute-Revolute Manipulator -->
+<!--
+Copied and modified from ROS2 example -
+https://github.com/ros-controls/ros2_control_demos/blob/master/ros2_control_demo_description/rrbot_description/urdf/rrbot.urdf.xacro
+-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="bolt">
+  <xacro:arg name="prefix" default="" />
 
-<?xml version="1.0" ?>
-<robot name="bolt"
-  xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-  xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-  xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+  <!-- Import RRBot macro -->
+  <xacro:include filename="$(find ros2_description_bolt)/urdf/system_bolt_description.urdf.xacro" />
 
-  <xacro:property name="mesh_ext" value="stl" />
-  <xacro:property name="color_name" value="grey" />
-  <xacro:property name="color" value="0.8 0.8 0.8" />
-  <xacro:property name="opacity" value="1.0" />
-  <xacro:property name="new_leg" value="true" />
-  <xacro:property name="has_passive_ankle" value="false" />
+  <!-- Import Rviz colors -->
+  <xacro:include filename="$(find ros2_description_bolt)/gazebo/system_bolt.materials.xacro" />
 
-  <!-- Include the legs -->
-  <xacro:include filename="bolt.xacro"/>
+  <!-- Import RRBot ros2_control description -->
+  <xacro:include filename="$(find ros2_description_bolt)/ros2_control/system_bolt.ros2_control.xacro" />
 
-  <!-- Include the fully parametrized bolt -->
-  <xacro:bolt_full
-      mesh_ext="${mesh_ext}"
-      color_name="${color_name}"
-      color="${color}"
-      opacity="${opacity}"
-      new_leg="${new_leg}"
-      has_passive_ankle="${has_passive_ankle}"/>
+  <!-- Used for fixing robot -->
+  <link name="world"/>
+  <gazebo reference="world">
+    <static>true</static>
+  </gazebo>
+
+  <xacro:system_bolt parent="world" prefix="$(arg prefix)">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </xacro:system_bolt>
+
+  <xacro:system_bolt_ros2_control
+    name="Bolt" prefix="$(arg prefix)" />
 
 </robot>

ros2_description_bolt/urdf/system_bolt.xacro

+<!--
+Copied from ODRI -
+https://github.com/open-dynamic-robot-initiative/robot_properties_bolt/blob/master/src/robot_properties_bolt/resources/xacro/bolt.xacro
+-->
+
+
+<?xml version="1.0" ?>
+<robot name="bolt"
+
+  xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+  xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+  xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+  <xacro:macro name="bolt_full" params="mesh_ext color_name color opacity new_leg has_passive_ankle">
+
+    <!-- This file is based on: https://atlas.is.localnet/confluence/display/AMDW/Quadruped+URDF+Files -->
+    <link name="base_link">
+      <!-- BASE LINK INERTIAL -->
+      <inertial>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <mass value="0.61436936"/>
+          <!-- The base is extremely symmetrical. -->
+          <inertia ixx="0.00578574" ixy="0.0" ixz="0.0"
+                                    iyy="0.01938108" iyz="0.0"
+                                                    izz="0.02476124"
+          />
+      </inertial>
+      <!-- BASE LINK VISUAL -->
+      <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://robot_properties_bolt/resources/meshes/${mesh_ext}/bolt_body.${mesh_ext}"/>
+          </geometry>
+          <material name="${color_name}">
+              <color rgba="${color} ${opacity}"/>
+          </material>
+      </visual>
+      <!-- BASE LINK COLLISION -->
+      <collision>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://robot_properties_bolt/resources/meshes/${mesh_ext}/bolt_body.${mesh_ext}"/>
+          </geometry>
+          <material name="${color_name}">
+              <color rgba="${color} ${opacity}"/>
+          </material>
+      </collision>
+      <!-- Bullet specific paramters -->
+      <contact>
+        <lateral_friction value="1.0"/>
+        <restitution value="0.5"/>
+      </contact>
+    </link> <!-- END BASE LINK -->
+
+    <!-- Include the legs -->
+    <xacro:include filename="leg.xacro"/>
+
+    <!-- Include the front left leg -->
+    <xacro:leg
+        prefix="FL"
+        is_front="true"
+        is_right="false"
+        has_side_motion="true"
+        mesh_ext="${mesh_ext}"
+        color_name="${color_name}"
+        color="${color}"
+        opacity="${opacity}"
+        new_leg="${new_leg}"
+        has_passive_ankle="${has_passive_ankle}"/>
+
+    <!-- Include the front right leg -->
+    <xacro:leg
+        prefix="FR"
+        is_front="true"
+        is_right="true"
+        has_side_motion="true"
+        mesh_ext="${mesh_ext}"
+        color_name="${color_name}"
+        color="${color}"
+        opacity="${opacity}"
+        new_leg="${new_leg}"
+        has_passive_ankle="${has_passive_ankle}"/>
+
+  </xacro:macro>
+</robot>

ros2_description_bolt/urdf/system_bolt_description.urdf.xacro

+<!--
+Copied from ODRI -
+https://github.com/open-dynamic-robot-initiative/robot_properties_bolt/blob/master/src/robot_properties_bolt/resources/xacro/bolt.urdf.xacro
+-->
+
+
+<?xml version="1.0" ?>
+<robot name="bolt"
+  xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+  xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+  xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+  <xacro:property name="mesh_ext" value="stl" />
+  <xacro:property name="color_name" value="grey" />
+  <xacro:property name="color" value="0.8 0.8 0.8" />
+  <xacro:property name="opacity" value="1.0" />
+  <xacro:property name="new_leg" value="true" />
+  <xacro:property name="has_passive_ankle" value="false" />
+
+  <!-- Include the legs -->
+  <xacro:include filename="system_bolt.xacro"/>
+
+  <!-- Include the fully parametrized bolt -->
+  <xacro:bolt_full
+      mesh_ext="${mesh_ext}"
+      color_name="${color_name}"
+      color="${color}"
+      opacity="${opacity}"
+      new_leg="${new_leg}"
+      has_passive_ankle="${has_passive_ankle}"/>
+
+</robot>