69 lines
No EOL
1.9 KiB
XML
69 lines
No EOL
1.9 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="rasms_gazebo">
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<!-- ros_control-plugin -->
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<gazebo>
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<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
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<parameters>$(find roboasm_moveit_config)/config/roboasm_controllers.yml</parameters>
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<robotNamespace>/rasms</robotNamespace>
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</plugin>
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</gazebo>
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<!-- link 0 -->
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<gazebo reference="base">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/White</material>
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<gravity>0</gravity>
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</gazebo>
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<!-- link 1 -->
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<gazebo reference="link1">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/White</material>
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<gravity>0</gravity>
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</gazebo>
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<!-- link 2 -->
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<gazebo reference="link2">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/White</material>
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<gravity>0</gravity>
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</gazebo>
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<!-- link 3 -->
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<gazebo reference="link3">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/White</material>
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<gravity>0</gravity>
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</gazebo>
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<!-- link 4 -->
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<gazebo reference="link4">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/White</material>
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<gravity>0</gravity>
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</gazebo>
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<!-- link 5 -->
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<gazebo reference="link5">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/White</material>
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<gravity>0</gravity>
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</gazebo>
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<!-- link 6 -->
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<gazebo reference="link6">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/White</material>
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<gravity>0</gravity>
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</gazebo>
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</xacro:macro>
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</robot> |