mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 03:15:01 +08:00
removed unused files
This commit is contained in:
Tan Pin Da
@@ -1,31 +0,0 @@
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<robot>
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<joint name="hokuyo_joint" type="fixed">
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<origin xyz="0.26 0 0.3" rpy="0 0 0"/>
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<parent link="base_link"/>
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<axis xyz="0 1 0" />
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<child link="hokuyo_link"/>
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</joint>
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<!-- Hokuyo Laser -->
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<link name="hokuyo_link">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/hokuyo.dae"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="1e-5" />
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
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</inertial>
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</link>
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</robot>
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@@ -1,111 +0,0 @@
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<?xml version="1.0"?>
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<!--
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Reference:
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[1] https://answers.ros.org/question/246914/four-wheeled-skid-steering-in-gazebo-and-ros-using-gazebo-ros-control/
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[2] https://answers.ros.org/question/10119/gazebo-controller-for-skid-steering/
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[3] https://answers.ros.org/question/9640/rotation-error-in-gazebo-simulation/
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[4] https://www.youtube.com/watch?v=fuRAv6PDwdw
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-->
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel.gazebo" />
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<!-- Additional definitions for simulation -->
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<!-- <gazebo reference="base_link">
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<material>Gazebo/Grey</material>
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</gazebo> -->
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<!-- Actuator configurations -->
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<xacro:scout_wheel_transmission wheel_prefix="front_right" />
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<xacro:scout_wheel_transmission wheel_prefix="front_left" />
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<xacro:scout_wheel_transmission wheel_prefix="rear_left" />
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<xacro:scout_wheel_transmission wheel_prefix="rear_right" />
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<!-- Controller configurations -->
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>$(arg robot_namespace)</robotNamespace>
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</plugin>
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</gazebo>
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<!-- kp spring constant, kd damping constant -->
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<gazebo>
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<mu1 value="1.0"/>
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<mu2 value="1.0"/>
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<kp value="10000000.0" />
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<kd value="1.0" />
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<fdir1 value="1 0 0"/>
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<minDepth value="0.001" />
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<maxContacts value="64"/>
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</gazebo>
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<!-- hokuyo -->
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<gazebo reference="hokuyo_link">
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<sensor type="ray" name="head_hokuyo_sensor">
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<pose>0 0 0 0 0 0</pose>
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<visualize>false</visualize>
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<update_rate>40</update_rate>
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<ray>
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<scan>
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<horizontal>
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<samples>720</samples>
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<resolution>1</resolution>
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<min_angle>-1.570796</min_angle>
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<max_angle>1.570796</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.10</min>
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<max>30.0</max>
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<resolution>0.01</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<!-- Noise parameters based on published spec for Hokuyo laser
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achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
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stddev of 0.01m will put 99.7% of samples within 0.03m of the true
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reading. -->
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<mean>0.0</mean>
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<stddev>0.01</stddev>
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</noise>
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</ray>
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<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
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<topicName>/scan</topicName>
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<frameName>hokuyo_link</frameName>
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</plugin>
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</sensor>
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</gazebo>
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<!-- <gazebo>
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<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
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<updateRate>100.0</updateRate>
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<robotNamespace></robotNamespace>
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<leftFrontJoint>front_left_wheel</leftFrontJoint>
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<rightFrontJoint>front_right_wheel</rightFrontJoint>
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<leftRearJoint>rear_left_wheel</leftRearJoint>
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<rightRearJoint>rear_right_wheel</rightRearJoint>
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<wheelSeparation>4</wheelSeparation>
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<wheelDiameter>0.32918</wheelDiameter>
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<robotBaseFrame>base_link</robotBaseFrame>
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<torque>1000</torque>
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<commandTopic>cmd_vel</commandTopic>
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<broadcastTF>true</broadcastTF>
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<odometryTopic>odom</odometryTopic>
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<odometryFrame>odom</odometryFrame>
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<covariance_x>0.000100</covariance_x>
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<covariance_y>0.000100</covariance_y>
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<covariance_yaw>0.010000</covariance_yaw>
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</plugin>
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</gazebo> -->
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<!-- <gazebo>
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<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
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<commandTopic>cmd_vel</commandTopic>
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<odometryTopic>odom</odometryTopic>
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<odometryFrame>odom</odometryFrame>
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<odometryRate>20.0</odometryRate>
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<robotBaseFrame>base_footprint</robotBaseFrame>
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</plugin>
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</gazebo> -->
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</robot>
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@@ -3,8 +3,7 @@
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<robot name="scout_v2"
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xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:arg name="robot_namespace" default="/" />
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<xacro:arg name="onboard_sensors" default="false" />
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<xacro:arg name="robot_namespace" default="/" />
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
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@@ -84,11 +83,4 @@
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<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel_type2>
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<!-- Onboard sensors -->
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<xacro:if value="$(arg onboard_sensors)">
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<xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
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</xacro:if>
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<!-- Gazebo definitions -->
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<xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" />
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</robot>
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@@ -1,42 +0,0 @@
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<?xml version="1.0"?>
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<!--
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Software License Agreement (BSD)
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\file scout_wheel.xacro (adapted from wheel.urdf.xacro in husky_description)
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\authors Paul Bovbel <pbovbel@clearpathrobotics.com>
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Ruixiang Du <ruixiang.du@westonrobot.com>
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\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
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\copyright Copyright (c) 2020, Weston Robot Pte. Ltd., All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that
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the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other materials provided with the distribution.
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* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
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products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
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RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
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DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
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OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="scout_wheel">
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<xacro:macro name="scout_wheel_transmission" params="wheel_prefix">
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<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="${wheel_prefix}_wheel_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="${wheel_prefix}_wheel">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission>
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</xacro:macro>
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</robot>
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