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24 lines
685 B
Plaintext
24 lines
685 B
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
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<xacro:arg name="prefix" default="" />
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<xacro:include filename="$(find rrbot_description)/urdf/rrbot_description.urdf.xacro" />
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<xacro:include filename="$(find rrbot_description)/gazebo/rrbot.materials.xacro" />
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<xacro:include filename="$(find odrive_demo_description)/urdf/odrive.ros2_control.xacro" />
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<link name="world"/>
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<xacro:rrbot parent="world" prefix="$(arg prefix)">
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<origin xyz="0 0 0" rpy="0 0 0" />
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</xacro:rrbot>
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<xacro:odrive_ros2_control
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name="ODriveRRBot"
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joint0_name="$(arg prefix)joint1"
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joint1_name="$(arg prefix)joint2" />
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</robot>
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