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=cf2c67240b9edfe7806f2ac61bb31149f23216da;hb=126edeb2696bb7635a9607b5d6bac8e21a4507c1;hpb=0a59dd47c01d9185d83245bad70edcb14e9ec15a
diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index cf2c672..417123f 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -26,7 +26,7 @@
-
+
@@ -170,47 +170,84 @@
-
-
- 0.001
-
-
- 0.001
-
+
+ transmission_interface/SimpleTransmission
+
+ VelocityJointInterface
+
+
+ VelocityJointInterface
+ 1
+
+
+
-
-
-
-
+
+
+
+
-
+
/
- aft_left_wheel_joint, aft_right_wheel_joint, front_left_wheel_joint, front_right_wheel_joint
- 10.0
- true
+ gazebo_ros_control/DefaultRobotHWSim
-
- /
+
true
- 10.0
- aft_right_wheel_joint
- aft_left_wheel_joint
- 0.252
- 0.12
- 5.0
- cmd_vel
- odom
- odom
- base_footprint
- Info
- false
- true
- 0.0
- world
- 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}
+
+
+
+
+
+
+
+
+