27 lines
1.0 KiB
XML
Executable File
27 lines
1.0 KiB
XML
Executable File
<?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>
|