Migration to ros control (diff_drive_controller)

[ros_roboint.git] / urdf / explorer.urdf

diff --git a/urdf/explorer.urdf b/urdf/explorer.urdf
index a32a1afaf50f840506c4e0c2f88182c3e67348b9..8f44ce2927fc3397b5d818b83261ec529b129600 100644 (file)
--- a/urdf/explorer.urdf
+++ b/urdf/explorer.urdf
@@ -32,6 +32,11 @@
                                <color rgba="0 0 0 1"/>
                        </material>
                </visual>
+               <collision>
+                       <geometry>
+                               <cylinder radius="0.026" length="0.02"/>
+                       </geometry>
+               </collision>
        </link>
 
        <link name="right_wheel">
@@ -43,6 +48,11 @@
                                <color rgba="0 0 0 1"/>
                        </material>
                </visual>
+               <collision>
+                       <geometry>
+                               <cylinder radius="0.026" length="0.02"/>
+                       </geometry>
+               </collision>
        </link>
 
        <link name="aft_wheel">
@@ -97,4 +107,24 @@
                <child link="forward_sensor"/>
                <origin xyz="0.07 0 0.06" rpy="0 0 0"/>
        </joint>
+
+       <transmission name="left_wheel_trans" type="SimpleTransmission">
+               <type>transmission_interface/SimpleTransmission</type>
+               <joint name="left_wheel_joint">
+                       <hardwareInterface>VelocityJointInterface</hardwareInterface>
+               </joint>
+               <actuator name="left_wheel_motor">
+                       <mechanicalReduction>1</mechanicalReduction>
+               </actuator>
+       </transmission>
+
+       <transmission name="right_wheel_trans" type="SimpleTransmission">
+               <type>transmission_interface/SimpleTransmission</type>
+               <joint name="right_wheel_joint">
+                       <hardwareInterface>VelocityJointInterface</hardwareInterface>
+               </joint>
+               <actuator name="right_wheel_motor">
+                       <mechanicalReduction>1</mechanicalReduction>
+               </actuator>
+       </transmission>
 </robot>