X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_roboint.git;a=blobdiff_plain;f=urdf%2Fexplorer.urdf;fp=urdf%2Fexplorer.urdf;h=8f44ce2927fc3397b5d818b83261ec529b129600;hp=a32a1afaf50f840506c4e0c2f88182c3e67348b9;hb=e2df79c17569d45bd959aec083c5fd6e72ca960b;hpb=562300f16b1b50ed1b730dceb0bf1e39797677fb

diff --git a/urdf/explorer.urdf b/urdf/explorer.urdf
index a32a1af..8f44ce2 100644
--- 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>