tag.xacro

<?xml version="1.0"?>

<robot xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" name="artag" >

  <xacro:macro name="artag" params="name parent *origin">
    
    <joint name="${name}_joint" type="fixed">
      <xacro:insert_block name="origin" />
      <parent link="${parent}"/>
      <child link="${name}_link"/>
    </joint>
      
    <link name="${name}_link">
      <inertial>
        <origin xyz="0 0 0" /> 
        <mass value="0.01" />
        <inertia  ixx="0.00000001" ixy="0.0"  ixz="0.0"  iyy="0.00000001"  iyz="0.0"  izz="0.00000001" />
      </inertial>
      <visual>
        <origin xyz="0 0 0" rpy="0 -1.57079632679 0"/>
        <geometry>
          <mesh filename="package://vigir_ar_alvar_description/meshes/${name}.dae"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://vigir_ar_alvar_description/meshes/${name}.dae"/>
        </geometry>
      </collision>
    </link>
  
     <joint name="${name}_background_joint" type="fixed">
      <origin xyz="0 0 -0.001" rpy="0 0 0" />
      <parent link="${name}_link"/>
      <child link="${name}_background_link"/>
    </joint>
    
    <link name="${name}_background_link">
      <inertial>
        <origin xyz="0 0 0" /> 
        <mass value="0.01" />
        <inertia  ixx="0.00000001" ixy="0.0"  ixz="0.0"  iyy="0.00000001"  iyz="0.0"  izz="0.00000001" />
      </inertial>
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <box size="0.1 0.1 0.001" />
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <box size="0.1 0.1 0.0001" />
        </geometry>
      </collision>
    </link>

    <gazebo reference="${name}_link">
      <!--      
      <material>artag/${name}</material>
      <turnGravityOff>false</turnGravityOff>
      <static>false</static>
      -->
    </gazebo>
    
    <gazebo reference="${name}_background_link">
      <material>Gazebo/White</material>
      <!--
      <turnGravityOff>false</turnGravityOff>
      <static>false</static>
      -->
    </gazebo>
   
    
  </xacro:macro>
  
</robot>