Magnezijum-Robotics/magrob
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Merge mg_wheel_interface with magrob

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Pimpest
2025-02-22 15:48:08 +01:00
parent 9b051d2103
commit b5d474ff01
10 changed files with 487 additions and 0 deletions
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72
mg_control/assets/mg_base_local.urdf Normal file
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<?xml version="1.0"?>
<robot name="mg-robot">
<material name="red">
<color rgba="1 0 0 1" />
</material>
<material name="gray">
<color rgba="0.5 0.5 0.5 1" />
</material>
<link name="base-link">
<visual>
<geometry>
<box size="0.24 0.32 0.12" color="yellow"/>
</geometry>
<origin xyz="0 0 0.12" rpy="0 0 0" />
<material name="red" />
</visual>
</link>
<link name="left-wheel">
<visual>
<geometry>
<cylinder radius="0.075" length="0.05"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
<material name="gray" />
</visual>
</link>
<link name="right-wheel">
<visual>
<geometry>
<cylinder radius="0.075" length="0.05"/>
</geometry>
<origin xyz="0 0 0." rpy="0 0 0" />
<material name="gray" />
</visual>
</link>
<joint name="right_motor" type="continuous">
<parent link="base-link"/>
<child link="right-wheel"/>
<origin xyz="0 -0.16 0.075" rpy="1.57 0 0" />
<axis xyz="0 0 1"/>
</joint>
<joint name="left_motor" type="continuous">
<parent link="base-link"/>
<child link="left-wheel"/>
<origin xyz="0 0.16 0.075" rpy="1.57 0 0" />
<axis xyz="0 0 1"/>
</joint>
<ros2_control name="mg-base" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="calculate_dynamics">true</param>
</hardware>
<joint name="left_motor">
<command_interface name="velocity"/>
<state_interface name="position"/>
</joint>
<joint name="right_motor">
<command_interface name="velocity"/>
<state_interface name="position"/>
</joint>
</ros2_control>
</robot>