mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
54 lines
2.2 KiB
XML
54 lines
2.2 KiB
XML
<?xml version="1.0"?>
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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></robotNamespace>
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</plugin>
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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> |