mirror of
https://github.com/bjoernellens1/cps_loki_description.git
synced 2024-11-22 15:43:49 +00:00
35 lines
915 B
Plaintext
35 lines
915 B
Plaintext
|
<?xml version="1.0"?>
|
||
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="odrive">
|
||
|
|
|
||
|
|
<xacro:arg name="enable_joint0" default="true" />
|
||
|
|
<xacro:arg name="enable_joint1" default="true" />
|
||
|
|
|
||
|
|
<xacro:include filename="$(find odrive_demo_description)/urdf/odrive.ros2_control.xacro" />
|
||
|
|
|
||
|
|
<link name="world" />
|
||
|
|
|
||
|
|
<xacro:if value="$(arg enable_joint0)">
|
||
|
|
<link name="link0" />
|
||
|
|
<joint name="joint0" type="continuous">
|
||
|
|
<parent link="world"/>
|
||
|
|
<child link="link0"/>
|
||
|
|
<axis xyz="0 0 1"/>
|
||
|
|
</joint>
|
||
|
|
</xacro:if>
|
||
|
|
|
||
|
|
<xacro:if value="$(arg enable_joint1)">
|
||
|
|
<link name="link1" />
|
||
|
|
<joint name="joint1" type="continuous">
|
||
|
|
<parent link="world"/>
|
||
|
|
<child link="link1"/>
|
||
|
|
<axis xyz="0 0 1"/>
|
||
|
|
</joint>
|
||
|
|
</xacro:if>
|
||
|
|
|
||
|
|
<xacro:odrive_ros2_control
|
||
|
|
name="odrive_ros2_control"
|
||
|
|
enable_joint0="$(arg enable_joint0)"
|
||
|
|
enable_joint1="$(arg enable_joint1)" />
|
||
|
|
|
||
|
|
</robot>
|