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35 lines
915 B
Plaintext
35 lines
915 B
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="odrive">
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<xacro:arg name="enable_joint0" default="true" />
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<xacro:arg name="enable_joint1" default="true" />
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<xacro:include filename="$(find odrive_demo_description)/urdf/odrive.ros2_control.xacro" />
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<link name="world" />
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<xacro:if value="$(arg enable_joint0)">
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<link name="link0" />
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<joint name="joint0" type="continuous">
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<parent link="world"/>
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<child link="link0"/>
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<axis xyz="0 0 1"/>
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</joint>
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</xacro:if>
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<xacro:if value="$(arg enable_joint1)">
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<link name="link1" />
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<joint name="joint1" type="continuous">
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<parent link="world"/>
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<child link="link1"/>
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<axis xyz="0 0 1"/>
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</joint>
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</xacro:if>
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<xacro:odrive_ros2_control
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name="odrive_ros2_control"
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enable_joint0="$(arg enable_joint0)"
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enable_joint1="$(arg enable_joint1)" />
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</robot>
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