stretch_ros/stretch_description/urdf/stretch_laser_range_finder.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_laser_range_finder">
  
  <link
    name="laser">
    <inertial>
      <origin
        xyz="0 0 -0.000755956127492408"
        rpy="0 0 0" />
      <mass
        value="0.0749979022894495" />
      <inertia
        ixx="0"
        ixy="0"
        ixz="0"
        iyy="0"
        iyz="0"
        izz="0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://stretch_description/meshes/laser.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://stretch_description/meshes/laser.STL" />
      </geometry>
    </collision>
  </link>
  
  <joint
    name="joint_laser"
    type="fixed">
    <origin
      xyz="0.000502800000000914 0 0.1664"
      rpy="0 0 -3.14159265358979" />
    <parent
      link="base_link" />
    <child
      link="laser" />
    <axis
      xyz="0 0 0" />
  </joint>

</robot>