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https://github.com/bjoernellens1/cps_rmp220_support.git
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31 lines
915 B
Plaintext
31 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">
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<gazebo>
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<plugin name="diff_drive" filename="libgazebo_ros_diff_drive.so">
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<!-- Wheel Information -->
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<left_joint>left_wheel_joint</left_joint>
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<right_joint>right_wheel_joint</right_joint>
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<wheel_separation>0.297</wheel_separation>
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<wheel_diameter>0.066</wheel_diameter>
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<!-- Limits -->
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<max_wheel_torque>200</max_wheel_torque>
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<max_wheel_acceleration>10.0</max_wheel_acceleration>
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<!-- Output -->
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<odometry_frame>odom</odometry_frame>
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<robot_base_frame>base_link</robot_base_frame>
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<publish_odom>true</publish_odom>
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<publish_odom_tf>true</publish_odom_tf>
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<publish_wheel_tf>true</publish_wheel_tf>
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</plugin>
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</gazebo>
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</robot>
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