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#6: try to build node

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This commit is contained in:
Splinter1984 2021-11-17 23:01:23 +07:00
parent f7b1ac43d2
commit af973fe0ee
16 changed files with 355 additions and 12 deletions
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16
rasms_description/urdf/rasms.gazebo.xacro
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@ -1,6 +1,8 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="rasms_gazebo">
<xacro:property name="gravity_disable" value="true" />
<!-- ros_control-plugin -->
<gazebo>
@ -15,7 +17,7 @@
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>gravity_disable</turnGravityOff>
</gazebo>
<!-- link 1 -->
@ -23,7 +25,7 @@
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>gravity_disable</turnGravityOff>
</gazebo>
<!-- link 2 -->
@ -31,7 +33,7 @@
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>gravity_disable</turnGravityOff>
</gazebo>
<!-- link 3 -->
@ -39,7 +41,7 @@
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>gravity_disable</turnGravityOff>
</gazebo>
<!-- link 4 -->
@ -47,7 +49,7 @@
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>gravity_disable</turnGravityOff>
</gazebo>
<!-- link 5 -->
@ -55,7 +57,7 @@
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>gravity_disable</turnGravityOff>
</gazebo>
<!-- link 6 -->
@ -63,7 +65,7 @@
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>gravity_disable</turnGravityOff>
</gazebo>
</xacro:macro>
</robot>