X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=fd005afa5d7308fe564d8ab3d91d2489abc88414;hp=ceb3df3cf66184634c5e3691e3d3bbff7a56e845;hb=b0346ccd1f5566f3134ed47fd28f8330d7d2d76b;hpb=2100cc84143e07ddd4b67bada32421c4d1cf6379 diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro index ceb3df3..fd005af 100644 --- a/urdf/wild_thumper.urdf.xacro +++ b/urdf/wild_thumper.urdf.xacro @@ -1,18 +1,314 @@ - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - + + + - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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 + + + + 0.20 + 16.0 + 0.01 + + + gaussian + 0.0 + 0.01 + + + + /scan + lidar + + +