45 lines
1.5 KiB
XML
Executable File
45 lines
1.5 KiB
XML
Executable File
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="square_wheel" params="name parent radius *origin">
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<link name="${name}_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1"/>
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<inertia ixx="0.2" ixy="0" ixz="0" iyy="0.2" iyz="0" izz="0.2"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<!-- use boxes for wheels, scale radius to account for "circumference" difference -->
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<box size="${wheel_radius*1.11} ${wheel_radius*1.11} ${wheel_radius*1.11} "/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="${wheel_radius*1.11} ${wheel_radius*1.11} ${wheel_radius*1.11} "/>
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</geometry>
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</collision>
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</link>
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<joint name="${name}_joint" type="continuous">
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<parent link="${parent}_link"/>
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<child link="${name}_link"/>
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<xacro:insert_block name="origin"/>
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<axis xyz="0 0 1"/>
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</joint>
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<!-- Transmission is important to link the joints and the controller -->
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<transmission name="${name}_joint_trans" type="SimpleTransmission">
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<actuator name="${name}_joint_motor"/>
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<joint name="${name}_joint"/>
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<mechanicalReduction>1</mechanicalReduction>
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<motorTorqueConstant>1</motorTorqueConstant>
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</transmission>
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<gazebo reference="${name}_link">
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<material>Gazebo/Red</material>
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</gazebo>
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</xacro:macro>
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</robot>
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