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This commit is contained in:
Ruixiang Du
2020-03-26 19:06:34 +08:00
parent 38510eb257
commit dbf04d03d8
10 changed files with 151 additions and 57 deletions
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9
scout_description/launch/scout_v2_stock.launch
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@@ -1,5 +1,10 @@
<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'" />
<arg name="robot_namespace" default="/"/>
<arg name="urdf_extras" default="$(find scout_description)/urdf/empty.urdf"/>
<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'
--inorder
robot_namespace:=$(arg robot_namespace)
urdf_extras:=$(arg urdf_extras)" />
</launch>

2
scout_description/urdf/scout_v2.gazebo
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@@ -16,7 +16,7 @@
<!-- Controller configurations -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace></robotNamespace>
<robotNamespace>$(arg robot_namespace)</robotNamespace>
</plugin>
</gazebo>

1
scout_description/urdf/scout_v2.xacro
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@@ -3,6 +3,7 @@
<robot name="scout_v2"
xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="robot_namespace" default="/" />
<xacro:arg name="urdf_extras" default="empty.urdf" />
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />