bobble_description/xacro/bobble.urdf.xacro at develop · super-owesome/bobble_description · GitHub

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<?xml version="1.0"?>

<robot name="bobblebot" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:include filename="$(find bobble_description)/xacro/bobble_chassis.urdf.xacro" />
  <xacro:include filename="$(find bobble_description)/xacro/camera.urdf.xacro" />
  <xacro:include filename="$(find bobble_description)/xacro/bno055_imu.urdf.xacro" />
  <xacro:include filename="$(find bobble_description)/xacro/left_wheel.urdf.xacro" />
  <xacro:include filename="$(find bobble_description)/xacro/right_wheel.urdf.xacro" />

  <xacro:bobble_chassis>
  </xacro:bobble_chassis>
  <xacro:camera_macro parent="bobble_chassis_link">
  </xacro:camera_macro>
  <xacro:bno055_imu parent="bobble_chassis_link">
  </xacro:bno055_imu>
  <xacro:left_wheel parent="bobble_chassis_link">
  </xacro:left_wheel>
  <xacro:right_wheel parent="bobble_chassis_link">
  </xacro:right_wheel>

  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" >
      <robotNamespace>/bobble</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <controlPeriod>0.002</controlPeriod>
      <legacyModeNS>false</legacyModeNS>
    </plugin>
    <plugin name='gazebo_ros_imu' filename='libhector_gazebo_ros_imu.so'>
      <alwaysOn>true</alwaysOn>
      <updateRate>500.0</updateRate>
      <bodyName>bno055_imu_link</bodyName>
      <topicName>/imu_bosch/data_raw</topicName>
      <gaussianNoise>0.02</gaussianNoise>
      <xyzOffsets>0 0 0</xyzOffsets>
      <rpyOffsets>0 0 0</rpyOffsets>
    </plugin>
  </gazebo>

</robot>