tetris.gazebo.xacro

<?xml version="1.0"?>
<robot>
  <!-- ros_control plugin -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/${ns}</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
  </gazebo>

  <gazebo>
    <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive_fixed.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>100</updateRate>
      <leftJoint>right_wheel_joint</leftJoint> <!-- intentionally reverted -->
      <rightJoint>left_wheel_joint</rightJoint>
      <wheelSeparation>${wheel_separation}</wheelSeparation>
      <wheelDiameter>${wheel_diameter}</wheelDiameter>
      <torque>5</torque>
      <commandTopic>/${ns}/cmd_vel</commandTopic>
      <odometryTopic>/${ns}/odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <robotBaseFrame>base_footprint</robotBaseFrame>
      <publishWheelTF>true</publishWheelTF>
      <publishWheelJointState>true</publishWheelJointState> 
    </plugin>
  </gazebo>

  <gazebo reference="base_link">
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <material>Gazebo/Black</material>
  </gazebo>
  <gazebo reference="tail_link">
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <material>Gazebo/White</material>
  </gazebo>
  <gazebo reference="right_wheel">
    <mu1>0.8</mu1>
    <mu2>0.8</mu2>
    <material>Gazebo/Grey</material>
    <kp>100000000.0</kp>
    <kd>1.0</kd>
 </gazebo>
  <gazebo reference="left_wheel">
    <mu1>0.8</mu1>
    <mu2>0.8</mu2>
    <material>Gazebo/Grey</material>
    <kp>100000000.0</kp>
    <kd>1.0</kd>
 </gazebo>

</robot>