Yoo Hee Sung
60 lines
1.3 KiB
XML
60 lines
1.3 KiB
XML
<?xml version="1.0" ?>
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<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<xacro:property name="body_color" value="Gazebo/Silver" />
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<gazebo>
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<plugin name="control" filename="libgazebo_ros_control.so"/>
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</gazebo>
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<gazebo reference="base_link">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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<gravity>true</gravity>
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</gazebo>
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<gazebo reference="fwl_1_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="fwr_1_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="rwr_1_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="rwl_1_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="imu_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="lidar_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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</robot>
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