21 lines
789 B
XML
21 lines
789 B
XML
<?xml version="1.0"?>
|
|
<!-- Basic differential drive mobile base -->
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="staubi_robot">
|
|
<xacro:arg name="prefix" default="" />
|
|
<xacro:arg name="use_mock_hardware" default="false" />
|
|
|
|
<xacro:include filename="$(find cyphal_hardware_interface)/urdf/staubi_description.urdf.xacro" />
|
|
|
|
<!-- Import Rviz colors -->
|
|
<xacro:include filename="$(find cyphal_hardware_interface)/urdf/staubi.materials.xacro" />
|
|
|
|
<!-- Import staubi ros2_control description -->
|
|
<xacro:include filename="$(find cyphal_hardware_interface)/ros2_control/staubi.ros2_control.xacro" />
|
|
|
|
<xacro:staubi prefix="$(arg prefix)" />
|
|
|
|
<xacro:staubi_ros2_control
|
|
name="Staubi" prefix="$(arg prefix)" use_mock_hardware="$(arg use_mock_hardware)"/>
|
|
|
|
</robot>
|