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git commit -m "first commit"

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HiepLM
2026-05-28 10:29:58 +07:00
commit 167c52aeb6
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mir_robot/mir_description/urdf/include/mir.transmission.xacro Executable file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="mir_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="mir_wheel_transmissions" params="prefix">
<xacro:mir_wheel_transmission prefix="${prefix}" locationprefix="left"/>
<xacro:mir_wheel_transmission prefix="${prefix}" locationprefix="right"/>
</xacro:macro>
</robot>