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test_cart_effort.xacro.urdf
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test_cart_effort.xacro.urdf
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<?xml version="1.0" ?>
<robot name="cart">
<link name="world"/>
<link name="slideBar">
<visual>
<geometry>
<box size="30 0.05 0.05"/>
</geometry>
<origin xyz="0 0 0"/>
<material name="green">
<color rgba="0 0.8 .8 1"/>
</material>
</visual>
<inertial>
<mass value="100"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="cart">
<visual>
<geometry>
<box size="0.5 0.5 0.2"/>
</geometry>
<origin xyz="0 0 0"/>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="world_to_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 1"/>
<parent link="world"/>
<child link="slideBar"/>
</joint>
<joint name="slider_to_cart" type="prismatic">
<axis xyz="1 0 0"/>
<origin xyz="0.0 0.0 0.0"/>
<parent link="slideBar"/>
<child link="cart"/>
<limit effort="1000.0" lower="-15" upper="15" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="slider_to_cart">
<command_interface name="effort">
<param name="min">-1000</param>
<param name="max">1000</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">1.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find gazebo_ros2_control_demos)/config/cart_controller_effort.yaml</parameters>
</plugin>
</gazebo>
</robot>