mirror of
https://github.com/westonrobot/scout_ros.git
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54 lines
2.8 KiB
XML
54 lines
2.8 KiB
XML
<?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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<!-- kp spring constant, kd damping constant -->
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<gazebo reference="${wheel_prefix}_wheel_link">
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<mu1 value="1.0"/>
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<mu2 value="0.9"/>
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<kp value="10000000.0" />
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<kd value="1.0" />
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<fdir1 value="1 0 0"/>
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<minDepth value="0.001" />
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<maxContacts value="64"/>
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</gazebo>
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<transmission name="${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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