Add the initial (untested) gazebo plugin configuration.

2026-05-07 20:55:24 +00:00
parent 54ed5c6a82
commit d3c3d03ae7
7 changed files with 146 additions and 16 deletions
@@ -12,10 +12,15 @@ def generate_launch_description():
    urdf_file = os.path.join(
        get_package_share_directory('raspbot_v2'), 'urdf', 'raspbot_v2.urdf.xacro'
    )
+    controllers_config = os.path.join(
+        get_package_share_directory('raspbot_v2'), 'config', 'controllers.yaml'
+    )
+
    robot_description = ParameterValue(
        Command([
            'xacro ', urdf_file,
            ' wheel_separation:=', LaunchConfiguration('wheel_base'),
+            ' controllers_config:=', controllers_config,
        ]),
        value_type=str,
    )