azmo/duru_urdf
3
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Initial commit of duru_urdf package

Browse Source 
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
This commit is contained in:
Yoo Hee Sung
2026-08-27 11:04:29 +09:00
commit e938b6921f
22 changed files with 813 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
urdf/duru_urdf.gazebo
+59
View File
@@ -0,0 +1,59 @@
<?xml version="1.0" ?>
<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro" >
<xacro:property name="body_color" value="Gazebo/Silver" />
<gazebo>
<plugin name="control" filename="libgazebo_ros_control.so"/>
</gazebo>
<gazebo reference="base_link">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>true</self_collide>
<gravity>true</gravity>
</gazebo>
<gazebo reference="fwl_1_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="fwr_1_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="rwr_1_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="rwl_1_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="imu_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="lidar_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>true</self_collide>
</gazebo>
</robot>