X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=417123f89c611417a903a86f30c8fb4f76df3ff3;hp=ceb3df3cf66184634c5e3691e3d3bbff7a56e845;hb=3708a6b10b4b3b98e1c3422f545dba82948fec5a;hpb=2100cc84143e07ddd4b67bada32421c4d1cf6379 diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro index ceb3df3..417123f 100644 --- a/urdf/wild_thumper.urdf.xacro +++ b/urdf/wild_thumper.urdf.xacro @@ -1,18 +1,253 @@ - + + + + + + + + + + + + + + + + + - - + + + + + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + VelocityJointInterface + 1 + + + + + + + + + + + + / + gazebo_ros_control/DefaultRobotHWSim + + + + true + 20.0 + base_imu_link + imu + 0.05 + base_imu_link + 0 0 0 + 0 0 0 + + + + + + + 0 0 0 0 0 0 + ${update_rate} + false + + + + 5 + 1 + -${fov/2} + ${fov/2} + + + 5 + 1 + -${fov/2} + ${fov/2} + + + + ${minRange} + ${maxRange} + 0.01 + + + + 0.005 + true + ${update_rate} + ${ros_topic} + ${name} + ${fov} + ${radiation} + + + + + + + + +