70 lines
1.9 KiB
XML
70 lines
1.9 KiB
XML
<?xml version="1.0"?>
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<robot name="mg-robot">
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<material name="red">
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<color rgba="1 0 0 1" />
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</material>
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<material name="gray">
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<color rgba="0.5 0.5 0.5 1" />
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</material>
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<link name="base-link">
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<visual>
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<geometry>
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<box size="0.5 0.5 0.2" color="yellow"/>
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</geometry>
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<origin xyz="0 0 0.12" rpy="0 0 0" />
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<material name="red" />
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</visual>
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</link>
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<link name="left-wheel">
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<visual>
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<geometry>
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<cylinder radius="0.1" length="0.05"/>
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</geometry>
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<origin xyz="0 0 0" rpy="1.57 0 0" />
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<material name="gray" />
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</visual>
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</link>
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<link name="right-wheel">
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<visual>
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<geometry>
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<cylinder radius="0.1" length="0.05"/>
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</geometry>
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<origin xyz="0 0 0" rpy="1.57 0 0" />
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<material name="gray" />
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</visual>
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</link>
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<joint name="right_motor" type="continuous">
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<parent link="base-link"/>
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<child link="right-wheel"/>
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<origin xyz="0 -0.25 0.1" rpy="0 0 3.141592" />
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</joint>
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<joint name="left_motor" type="continuous">
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<parent link="base-link"/>
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<child link="left-wheel"/>
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<origin xyz="0 0.25 0.1" rpy="0 0 0" />
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</joint>
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<ros2_control name="mg-base" type="system">
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<hardware>
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<plugin>mock_components/GenericSystem</plugin>
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<param name="calculate_dynamics">true</param>
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</hardware>
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<joint name="left_motor">
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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</joint>
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<joint name="right_motor">
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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</joint>
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</ros2_control>
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</robot> |