30 lines
1.2 KiB
XML
30 lines
1.2 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<ros2_control name="GazeboSystem" type="system">
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<hardware>
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<plugin>gazebo_ros2_control/GazeboSystem</plugin>
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</hardware>
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<joint name="left_wheel_joint">
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<command_interface name="velocity">
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<param name="min">-0.5</param>
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<param name="max">0.5</param>
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</command_interface>
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<state_interface name="position" />
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<state_interface name="velocity" />
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</joint>
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<joint name="right_wheel_joint">
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<command_interface name="velocity">
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<param name="min">-0.5</param>
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<param name="max">0.5</param>
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</command_interface>
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<state_interface name="velocity" />
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<state_interface name="position" />
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</joint>
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</ros2_control>
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<gazebo>
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<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
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<parameters>$(find dcaiti_control)/config/dcaiti_config.yml</parameters>
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<parameters>$(find dcaiti_control)/config/gaz_ros2_ctl_sim.yml</parameters>
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</plugin>
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</gazebo>
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</robot> |