29 lines
1.0 KiB
XML
Executable File
29 lines
1.0 KiB
XML
Executable File
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro"
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name="mir" >
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<!-- MiR base -->
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<xacro:include filename="$(find mir_description)/urdf/include/mir_v1.urdf.xacro" />
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<xacro:include filename="$(find mir_description)/urdf/include/common.gazebo.xacro" />
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<xacro:arg name="tf_prefix" default="" />
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<xacro:property name="tf_prefix_" value="$(arg tf_prefix)" />
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<xacro:if value="${tf_prefix_ == ''}">
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<xacro:property name="prefix" value="" />
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</xacro:if>
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<xacro:unless value="${tf_prefix_ == ''}">
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<xacro:property name="prefix" value="${tf_prefix_}/" />
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</xacro:unless>
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<xacro:mir prefix="${prefix}" />
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<xacro:controller_plugin_gazebo robot_namespace=""/>
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<!-- instead of the controller_plugin_gazebo, you can use the diffdrive controller like this: -->
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<!-- <xacro:diff_controller_plugin_gazebo prefix=""
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left_wheel_joint="left_wheel_joint"
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right_wheel_joint="right_wheel_joint"
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wheel_separation="${2*mir_act_wheel_dy}"
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wheel_radius="${mir_act_wheel_radius}"/> -->
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</robot>
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