<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:macro name="rasms_gazebo">

        <!-- ros_control-plugin -->
        <gazebo>
            <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
                <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
                <parameters>$(find rasms_moveit_config)/config/rasms_controllers.yml</parameters>
                <robotNamespace>/rasms</robotNamespace>
            </plugin>
        </gazebo>

        <!-- link 0 -->
        <gazebo reference="base">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <material>Gazebo/White</material>
            <gravity>0</gravity>
        </gazebo>

        <!-- link 1 -->
        <gazebo reference="link1">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <material>Gazebo/White</material>
            <gravity>0</gravity>
        </gazebo>

        <!-- link 2 -->
        <gazebo reference="link2">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <material>Gazebo/White</material>
            <gravity>0</gravity>
        </gazebo>

        <!-- link 3 -->
        <gazebo reference="link3">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <material>Gazebo/White</material>
            <gravity>0</gravity>
        </gazebo>

        <!-- link 4 -->
        <gazebo reference="link4">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <material>Gazebo/White</material>
            <gravity>0</gravity>
        </gazebo>

        <!-- link 5 -->
        <gazebo reference="link5">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <material>Gazebo/White</material>
            <gravity>0</gravity>
        </gazebo>

        <!-- link 6 -->
        <gazebo reference="link6">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <material>Gazebo/White</material>
            <gravity>0</gravity>
        </gazebo>
    </xacro:macro>
</robot>