add agv_pro_gazebo

agv_pro_gazebo/urdf/parts/wheel_macro.xacro

@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="wheel" params="name mesh origin_xyz origin_rpy mass ixx ixy ixz iyy iyz izz">
+
+    <link name="${name}_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="${mass}" />
+        <inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}" iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="${mesh}" />
+        </geometry>
+        <material name="gray">
+          <color rgba="0.3 0.3 0.3 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="${mesh}" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${name}_joint" type="continuous">
+      <origin xyz="${origin_xyz}" rpy="${origin_rpy}" />
+      <parent link="base_link" />
+      <child link="${name}_link" />
+      <axis xyz="0 1 0"/>
+      <dynamics damping="0.1"/>
+    </joint>
+
+    <!-- Correct transmission for ROS2 -->
+    <transmission name="${name}_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${name}_joint">
+        <hardwareInterface>hardware_interface/velocity</hardwareInterface>
+      </joint>
+      <actuator name="${name}_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+        <hardwareInterface>hardware_interface/velocity</hardwareInterface>
+      </actuator>
+    </transmission>
+
+    <gazebo reference="${name}_link">
+      <mu1>0.8</mu1>
+      <mu2>0.8</mu2>
+      <kp>100000.0</kp>
+      <kd>1.0</kd>
+      <material>Gazebo/Black</material>
+    </gazebo>
+
+  </xacro:macro>
+</robot>