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updated scout description, still working on scout gazebo sim control

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This commit is contained in:
Ruixiang Du
2020-03-25 23:46:23 +08:00
parent 9c26ce9c34
commit 38510eb257
17 changed files with 3900 additions and 43 deletions
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14
scout_description/urdf/scout_v2.gazebo
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@@ -1,9 +1,19 @@
<?xml version="1.0"?>
<robot>
<robot xmlns:xacro="http://ros.org/wiki/xacro" >
<xacro:include filename="$(find scout_description)/urdf/scout_wheel.gazebo" />
<!-- Additional definitions for simulation -->
<!-- <gazebo reference="base_link">
<material>Gazebo/Grey</material>
</gazebo> -->
<!-- Actuator configurations -->
<xacro:scout_wheel_transmission wheel_prefix="front_right" />
<xacro:scout_wheel_transmission wheel_prefix="front_left" />
<xacro:scout_wheel_transmission wheel_prefix="rear_left" />
<xacro:scout_wheel_transmission wheel_prefix="rear_right" />
<!-- Controller configurations -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace></robotNamespace>
@@ -40,5 +50,5 @@
<odometryRate>20.0</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo> -->
</gazebo> -->
</robot>