23 lines
944 B
XML
Executable File
23 lines
944 B
XML
Executable File
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="mir_wheel_transmission" params="prefix locationprefix">
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<transmission name="${prefix}${locationprefix}_wheel_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}${locationprefix}_wheel_joint">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}${locationprefix}_wheel_motor">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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</xacro:macro>
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<xacro:macro name="mir_wheel_transmissions" params="prefix">
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<xacro:mir_wheel_transmission prefix="${prefix}" locationprefix="left"/>
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<xacro:mir_wheel_transmission prefix="${prefix}" locationprefix="right"/>
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</xacro:macro>
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</robot>
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