35 lines
1.0 KiB
Plaintext
35 lines
1.0 KiB
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<gazebo reference="arm_base_link">
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<material>Gazebo/Orange</material>
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</gazebo>
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<gazebo reference="forearm_link">
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<material>Gazebo/Yellow</material>
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</gazebo>
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<gazebo reference="hand_link">
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<material>Gazebo/Orange</material>
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</gazebo>
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<gazebo>
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<plugin name="joint_state_publisher_controller"
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filename="libgazebo_ros_joint_state_publisher.so">
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<!-- Update rate in Hertz -->
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<update_rate>10</update_rate>
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<!-- Name of joints in the model whose states will be published. -->
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<joint_name>arm_base_forearm_joint</joint_name>
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<joint_name>forearm_hand_joint</joint_name>
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</plugin>
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</gazebo>
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<gazebo>
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<plugin name="joint_pose_trajectory_controller"
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filename="libgazebo_ros_joint_pose_trajectory.so">
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<!-- Update rate in Hz -->
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<update_rate>2</update_rate>
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</plugin>
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</gazebo>
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</robot>
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