74 lines
1.8 KiB
XML
Executable file
74 lines
1.8 KiB
XML
Executable file
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find aubo_ros2_description)/urdf/materials.xacro" />
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<xacro:macro name="aubo_arm_gazebo" params="prefix">
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<!--base_Link-->
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<gazebo reference = "${prefix}base_Link">
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<material>Gazebo/Black</material>
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</gazebo>
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<!--shoulder_Link-->
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<gazebo reference = "${prefix}shoulder_Link">
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<material>Gazebo/Orange</material>
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</gazebo>
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<!--s_Link-->
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<gazebo reference = "${prefix}s_Link">
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<material>Gazebo/Black</material>
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</gazebo>
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<!--upperArm_Link-->
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<gazebo reference = "${prefix}upperArm_Link">
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<material>Gazebo/Orange</material>
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</gazebo>
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<!--f1_Link-->
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<gazebo reference = "${prefix}f1_Link">
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<material>Gazebo/Black</material>
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</gazebo>
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<!--foreArm_Link-->
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<gazebo reference = "${prefix}foreArm_Link">
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<material>Gazebo/Orange</material>
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</gazebo>
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<!--u_Link-->
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<gazebo reference = "${prefix}u_Link">
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<material>Gazebo/Black</material>
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</gazebo>
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<!--wrist1_Link-->
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<gazebo reference = "${prefix}wrist1_Link">
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<material>Gazebo/Orange</material>
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</gazebo>
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<!--w1_Link-->
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<gazebo reference = "${prefix}w1_Link">
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<material>Gazebo/Black</material>
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</gazebo>
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<!--wrist2_Link-->
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<gazebo reference = "${prefix}wrist2_Link">
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<material>Gazebo/Orange</material>
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</gazebo>
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<!--w2_Link-->
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<gazebo reference = "${prefix}w2_Link">
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<material>Gazebo/Black</material>
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</gazebo>
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<!--wrist3_Link-->
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<gazebo reference = "${prefix}wrist3_Link">
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<material>Gazebo/Black</material>
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</gazebo>
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<!--pedestal_Link-->
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<gazebo reference = "${prefix}pedestal_Link">
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<material>Gazebo/Green</material>
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</gazebo>
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</xacro:macro>
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</robot>
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