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rrbot.urdf.xacro
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rrbot.urdf.xacro
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<?xml version="1.0"?>
<!-- Revolute-Revolute Manipulator -->
<!--
Copied and modified from ROS1 example -
https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
<xacro:arg name="prefix" default="" />
<!-- Import RRBot macro -->
<xacro:include filename="$(find rrbot_description)/urdf/rrbot_description.urdf.xacro" />
<!-- Import Rviz colors -->
<xacro:include filename="$(find rrbot_description)/gazebo/rrbot.materials.xacro" />
<!-- Import RRBot ros2_control description -->
<xacro:include filename="$(find rrbot_description)/ros2_control/rrbot.ros2_control.xacro" />
<!-- Used for fixing robot -->
<link name="world"/>
<gazebo reference="world">
<static>true</static>
</gazebo>
<xacro:rrbot parent="world" prefix="$(arg prefix)">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:rrbot>
<xacro:rrbot_ros2_control
name="RRBot" prefix="$(arg prefix)" />
</robot>