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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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30
Controllers/Packages/cititruck_description/urdf/include/cititruck.transmission.xacro Executable file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="cititruck_wheel_transmission" params="prefix locationprefix">
<transmission name="${prefix}${locationprefix}_wheel_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}${locationprefix}_wheel_joint">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}${locationprefix}_wheel_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<xacro:macro name="cititruck_steer_transmission" params="prefix locationprefix">
<transmission name="${prefix}${locationprefix}_wheel_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}${locationprefix}_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}${locationprefix}_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>