<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

  <!--
    Gazebo (gz-sim Harmonic) integration. Only two responsibilities:
      1. Load the gz_ros2_control system plugin, which hosts the
         controller_manager inside gz-sim and reads the controller yaml.
    Per-wheel mecanum friction is emitted by the wheel macro when
    gazebo_ignition (sim) is true, so it is NOT repeated here.
  -->
  <xacro:macro name="agv_pro_gazebo" params="prefix controllers_file">
    <gazebo>
      <plugin filename="gz_ros2_control-system"
        name="gz_ros2_control::GazeboSimROS2ControlPlugin">
        <parameters>${controllers_file}</parameters>
      </plugin>
    </gazebo>
  </xacro:macro>
</robot>