2023-06-01 08:05:36 +00:00
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="diffdrive_robot">
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<xacro:arg name="prefix" default="" />
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2023-06-01 09:31:26 +00:00
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<xacro:include filename="$(find bot_mini_description)/urdf/diffbot_description.urdf.xacro" />
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2023-06-01 08:05:36 +00:00
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2023-06-01 09:31:26 +00:00
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<xacro:include filename="$(find bot_mini_description)/urdf/diffbot.materials.xacro" />
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2023-06-01 08:05:36 +00:00
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2023-06-01 09:31:26 +00:00
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<xacro:include filename="$(find bot_mini_description)/urdf/odrive.ros2_control.xacro" />
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2023-06-01 08:05:36 +00:00
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<xacro:diffbot prefix="$(arg prefix)" />
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<xacro:odrive_ros2_control
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name="ODriveDiffBot"
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joint0_name="$(arg prefix)left_wheel_joint"
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joint1_name="$(arg prefix)right_wheel_joint" />
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</robot>
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