X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper_with_manipulator.urdf.xacro;fp=urdf%2Fwild_thumper_with_manipulator.urdf.xacro;h=31442584f61e7ee56152fecabe07f447e4fa625d;hp=0000000000000000000000000000000000000000;hb=fd6ae55188019c3e21cc9341b34aea471038494d;hpb=a3aded9d5f8b2d9ea884b0cce09a57167efbe0d8

diff --git a/urdf/wild_thumper_with_manipulator.urdf.xacro b/urdf/wild_thumper_with_manipulator.urdf.xacro
new file mode 100644
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>