jiaweilong66
59 lines
1.7 KiB
XML
59 lines
1.7 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="wheel" params="name mesh origin_xyz origin_rpy mass ixx ixy ixz iyy iyz izz">
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<link name="${name}_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="${mass}" />
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<inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}" iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="${mesh}" />
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</geometry>
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<material name="gray">
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<color rgba="0.3 0.3 0.3 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="${mesh}" />
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</geometry>
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</collision>
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</link>
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<joint name="${name}_joint" type="continuous">
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<origin xyz="${origin_xyz}" rpy="${origin_rpy}" />
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<parent link="base_link" />
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<child link="${name}_link" />
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<axis xyz="0 1 0"/>
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<dynamics damping="0.1"/>
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</joint>
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<!-- Correct transmission for ROS2 -->
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<transmission name="${name}_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${name}_joint">
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<hardwareInterface>hardware_interface/velocity</hardwareInterface>
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</joint>
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<actuator name="${name}_motor">
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<mechanicalReduction>1</mechanicalReduction>
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<hardwareInterface>hardware_interface/velocity</hardwareInterface>
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</actuator>
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</transmission>
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<gazebo reference="${name}_link">
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<mu1>0.8</mu1>
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<mu2>0.8</mu2>
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<kp>100000.0</kp>
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<kd>1.0</kd>
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<material>Gazebo/Black</material>
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</gazebo>
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</xacro:macro>
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</robot>
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