jiaweilong66
58 lines
2.3 KiB
XML
58 lines
2.3 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="ros2_controller">
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<ros2_control name="FishBotGazeboSystem" type="system">
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<hardware>
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<plugin>gazebo_ros2_control/GazeboSystem</plugin>
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</hardware>
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<!-- 配置所有轮子的控制接口 -->
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<joint name="front_left_wheel_joint">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<command_interface name="effort" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="front_right_wheel_joint">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<command_interface name="effort" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="rear_left_wheel_joint">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<command_interface name="effort" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="rear_right_wheel_joint">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<command_interface name="effort" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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</ros2_control>
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<gazebo>
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<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
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<parameters>$(find agv_pro_gazebo)/config/agv_control.yaml</parameters>
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<ros>
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<remapping>/omni_drive_controller/cmd_vel:=/cmd_vel</remapping>
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<remapping>/omni_drive_controller/odom:=/odom</remapping>
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</ros>
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</plugin>
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</gazebo>
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</xacro:macro>
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</robot>
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