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it was necessary to erase all semicolons in comments because of a [weird bug in gazebo_ros2_control 0.4.7](ros-controls/gazebo_ros2_control#295), I hope it will get fixed soon because I like my "TODO:"s using folke/todo-comments.nvim
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controller_manager: | ||
ros__parameters: | ||
update_rate: 50 | ||
use_sim_time: True | ||
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# holonomic_rover_controller: | ||
# type: holonomic_rover_controller/HolonomicRoverController | ||
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holonomic_rover_controller: | ||
ros__parameters: | ||
rear_wheels_steering_names: | ||
[ | ||
"left_back_wheel_steering_gear_joint", | ||
"right_back_wheel_steering_gear_joint", | ||
] | ||
middle_wheel_steering_names: | ||
[ | ||
"left_middle_wheel_steering_gear_joint", | ||
"right_middle_wheel_steering_gear_joint", | ||
] | ||
front_wheels_steering_names: | ||
[ | ||
"left_front_wheel_steering_gear_joint", | ||
"right_front_wheel_steering_gear_joint", | ||
] | ||
rear_wheels_names: ["left_back_wheel_joint", "right_back_wheel_joint"] | ||
middle_wheel_names: ["left_middle_wheel_joint", "right_middle_wheel_joint"] | ||
front_wheels_names: ["left_front_wheel_joint", "right_front_wheel_joint"] | ||
front_to_middle_wheel_distance: 0.44 | ||
middle_to_back_wheel_distance: 0.43 | ||
wheel_track: 0.27 | ||
wheels_radius: 0.06 | ||
base_frame_id: "base_link" | ||
odom_frame_id: "odom" | ||
enable_odom_tf: True | ||
use_stamped_vel: False |
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@@ -1,7 +1,10 @@ | ||
<?xml version="1.0" ?> | ||
<?xml version="1.0"?> | ||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="forg_bot"> | ||
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<xacro:arg name="simulation" default="true"/> | ||
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<xacro:include filename="forg_core.urdf.xacro"/> | ||
<xacro:include filename="ros2_control.urdf.xacro"/> | ||
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</robot> | ||
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,93 @@ | ||
<?xml version="1.0"?> | ||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" > | ||
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<xacro:arg name="simulation" default="true"/> | ||
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<xacro:if value="$(arg simulation)"> | ||
<ros2_control name="GazeboSystem" type="system"> | ||
<hardware> | ||
<plugin>gazebo_ros2_control/GazeboSystem</plugin> | ||
</hardware> | ||
<joint name="left_front_wheel_steering_gear_joint"> | ||
<command_interface name="position"/> | ||
<state_interface name="velocity"/> | ||
<state_interface name="position"/> | ||
<state_interface name="effort"/> | ||
</joint> | ||
<joint name="left_middle_wheel_steering_gear_joint"> | ||
<command_interface name="position"/> | ||
<state_interface name="velocity"/> | ||
<state_interface name="position"/> | ||
<state_interface name="effort"/> | ||
</joint> | ||
<joint name="left_back_wheel_steering_gear_joint"> | ||
<command_interface name="position"/> | ||
<state_interface name="velocity"/> | ||
<state_interface name="position"/> | ||
<state_interface name="effort"/> | ||
</joint> | ||
<joint name="right_front_wheel_steering_gear_joint"> | ||
<command_interface name="position"/> | ||
<state_interface name="velocity"/> | ||
<state_interface name="position"/> | ||
<state_interface name="effort"/> | ||
</joint> | ||
<joint name="right_middle_wheel_steering_gear_joint"> | ||
<command_interface name="position"/> | ||
<state_interface name="velocity"/> | ||
<state_interface name="position"/> | ||
<state_interface name="effort"/> | ||
</joint> | ||
<joint name="right_back_wheel_steering_gear_joint"> | ||
<command_interface name="position"/> | ||
<state_interface name="velocity"/> | ||
<state_interface name="position"/> | ||
<state_interface name="effort"/> | ||
</joint> | ||
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<joint name="left_front_wheel_joint"> | ||
<command_interface name="velocity"/> | ||
<state_interface name="velocity"/> | ||
<state_interface name="position"/> | ||
<state_interface name="effort"/> | ||
</joint> | ||
<joint name="left_middle_wheel_joint"> | ||
<command_interface name="velocity"/> | ||
<state_interface name="velocity"/> | ||
<state_interface name="position"/> | ||
<state_interface name="effort"/> | ||
</joint> | ||
<joint name="left_back_wheel_joint"> | ||
<command_interface name="velocity"/> | ||
<state_interface name="velocity"/> | ||
<state_interface name="position"/> | ||
<state_interface name="effort"/> | ||
</joint> | ||
<joint name="right_front_wheel_joint"> | ||
<command_interface name="velocity"/> | ||
<state_interface name="velocity"/> | ||
<state_interface name="position"/> | ||
<state_interface name="effort"/> | ||
</joint> | ||
<joint name="right_middle_wheel_joint"> | ||
<command_interface name="velocity"/> | ||
<state_interface name="velocity"/> | ||
<state_interface name="position"/> | ||
<state_interface name="effort"/> | ||
</joint> | ||
<joint name="right_back_wheel_joint"> | ||
<command_interface name="velocity"/> | ||
<state_interface name="velocity"/> | ||
<state_interface name="position"/> | ||
<state_interface name="effort"/> | ||
</joint> | ||
</ros2_control> | ||
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<gazebo> | ||
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so"> | ||
<parameters>$(find forg_description)/config/gazebo_ros2_control.yaml</parameters> | ||
</plugin> | ||
</gazebo> | ||
</xacro:if> | ||
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</robot> |
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