HiepLM/mir_amr
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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/mir.urdf.xacro Executable file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro"
name="mir" >
<!-- MiR base -->
<xacro:include filename="$(find mir_description)/urdf/include/mir_v1.urdf.xacro" />
<xacro:include filename="$(find mir_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:mir prefix="${prefix}" />
<xacro:controller_plugin_gazebo robot_namespace=""/>
<!-- instead of the controller_plugin_gazebo, you can use the diffdrive controller like this: -->
<!-- <xacro:diff_controller_plugin_gazebo prefix=""
left_wheel_joint="left_wheel_joint"
right_wheel_joint="right_wheel_joint"
wheel_separation="${2*mir_act_wheel_dy}"
wheel_radius="${mir_act_wheel_radius}"/> -->
</robot>