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add apm

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HiepLM
2026-02-26 09:48:16 +07:00
parent e8d5980572
commit 148a5e2c60
158 changed files with 9014 additions and 1 deletions
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26
Controllers/Packages/cititruck_description/urdf/cititruck.urdf.xacro Executable file
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<?xml version="1.0"?>
<robot name="cititruck" xmlns:xacro="http://ros.org/wiki/xacro" >
<!-- cititruck base -->
<xacro:include filename="$(find cititruck_description)/urdf/include/cititruck_v1.urdf.xacro" />
<xacro:include filename="$(find cititruck_description)/urdf/include/common.gazebo.xacro" />
<xacro:arg name="tf_prefix" default="" />
<xacro:property name="tf_prefix_" value="$(arg tf_prefix)" />
<xacro:if value="${tf_prefix_ == ''}">
<xacro:property name="prefix" value="" />
</xacro:if>
<xacro:unless value="${tf_prefix_ == ''}">
<xacro:property name="prefix" value="${tf_prefix_}/" />
</xacro:unless>
<xacro:cititruck prefix="${prefix}" />
<xacro:controller_plugin_gazebo robot_namespace=""/>
<!-- instead of the controller_plugin_gazebo, you can use the steerdrive controller like this: -->
<!-- <xacro:steer_controller_plugin_gazebo
prefix="${prefix}"
steer_joint = "base2steer_joint"
steerdrive_wheel_joint = "steer2sd_wheel_joint"
wheel_radius = "0.105"/> -->
</robot>