configuration with manipulator

[ros_wild_thumper.git] / urdf / wild_thumper_with_manipulator.urdf.xacro

diff --git a/urdf/wild_thumper_with_manipulator.urdf.xacro b/urdf/wild_thumper_with_manipulator.urdf.xacro
new file mode 100644 (file)
index 0000000..3144258
--- /dev/null
+++ b/urdf/wild_thumper_with_manipulator.urdf.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<robot name="wild_thumper_with_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
+       <xacro:property name="PI" value="3.1415926535897931" />
+       <xacro:include filename="$(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+       <xacro:include filename="$(find wt_open_manipulator)/urdf/open_manipulator.urdf.xacro"/>
+
+       <joint name="open_manipulator_joint" type="fixed">
+               <parent link="mounting_plate"/>
+               <child link="link1"/>
+               <origin xyz="-0.075 0.0 0.045" rpy="0 0 ${PI}"/>
+       </joint>
+</robot>