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add agv_pro_gazebo

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jiaweilong66
2025-06-26 12:02:01 +09:00
parent 23491dad2e
commit 1e40001e4c
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agv_pro_gazebo/urdf/ros2_controller.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ros2_controller">
<ros2_control name="FishBotGazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<!-- 配置所有轮子的控制接口 -->
<joint name="front_left_wheel_joint">
<command_interface name="position" />
<command_interface name="velocity" />
<command_interface name="effort" />
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
<joint name="front_right_wheel_joint">
<command_interface name="position" />
<command_interface name="velocity" />
<command_interface name="effort" />
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
<joint name="rear_left_wheel_joint">
<command_interface name="position" />
<command_interface name="velocity" />
<command_interface name="effort" />
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
<joint name="rear_right_wheel_joint">
<command_interface name="position" />
<command_interface name="velocity" />
<command_interface name="effort" />
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find agv_pro_description)/config/agv_control.yaml</parameters>
<ros>
<remapping>/omni_drive_controller/cmd_vel:=/cmd_vel</remapping>
<remapping>/omni_drive_controller/odom:=/odom</remapping>
</ros>
</plugin>
</gazebo>
</xacro:macro>
</robot>