X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=f50da66a00d57acdc1b1e9dc43582523eeb45b9b;hp=30d509d31b42ca2245add9e6a40dafdd0a33fb8e;hb=1e0c178b4723217cf134c26ebedfec68ecafe67a;hpb=dcdf9baa260c03d34c55339af9950155319c41f0 diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro index 30d509d..f50da66 100644 --- a/urdf/wild_thumper.urdf.xacro +++ b/urdf/wild_thumper.urdf.xacro @@ -1,18 +1,293 @@ - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - + + + + + - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.005 + + + + + + + + + + + transmission_interface/SimpleTransmission + + VelocityJointInterface + + + 1 + + + + + + + + + + + + / + gazebo_ros_control/DefaultRobotHWSim + + + + true + 20.0 + base_imu_link + imu + 0.05 + base_imu_link + 0 0 0 + 0 0 0 + /default_imu + + + + + + + 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} + + + + + + + + + + + + + + 0 0 0 0 0 0 + false + 12 + + + + 360 + 1 + -3.12413907051 + 3.14159274101 + + + + 0.15 + 16.0 + 0.01 + + + gaussian + 0.0 + 0.01 + + + + /scan + lidar + + +