├── .github └── workflows │ ├── bloom-release.yml │ ├── deb_package.yml │ ├── format.yml │ └── industrial_ci.yml ├── .pre-commit-config.yaml ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── doc └── hero_chassis_only_gazebo.png ├── launch └── check_joint.launch ├── meshes ├── balance │ ├── base_link.stl │ └── reaction_wheel.stl ├── common │ ├── camera.stl │ ├── friction.stl │ ├── lds.stl │ ├── left_threaded_mecanum_wheel.stl │ ├── omni_roller.stl │ ├── omni_wheel.stl │ ├── right_threaded_mecanum_wheel.stl │ ├── roller.stl │ ├── swerve_pivot.stl │ └── swerve_wheel.stl ├── drone │ ├── base_link.stl │ ├── camera.stl │ ├── pitch.stl │ ├── trigger.stl │ └── yaw.stl ├── engineer │ ├── base.stl │ ├── card.stl │ ├── card_collision.stl │ ├── drag.stl │ ├── link1.stl │ ├── link2_1.stl │ ├── link2_2.stl │ ├── link3.stl │ ├── link4.stl │ ├── link5.stl │ └── link6.stl ├── hero │ ├── base.stl │ ├── pitch.stl │ ├── trigger.stl │ └── yaw.stl ├── rmua │ ├── base.stl │ ├── friction.stl │ ├── pitch.stl │ ├── trigger.stl │ └── yaw.stl ├── sentry │ ├── base_link.stl │ ├── catapult.stl │ ├── drive_wheel.stl │ ├── driven_wheel.stl │ ├── driven_wheel1.stl │ ├── driven_wheel2.stl │ ├── driven_wheel3.stl │ ├── lower_camera.stl │ ├── lower_pitch.stl │ ├── lower_trigger.stl │ ├── lower_yaw.stl │ ├── slider.stl │ ├── track.stl │ ├── upper_camera.stl │ ├── upper_friction_wheel.stl │ ├── upper_pitch.stl │ ├── upper_trigger.stl │ └── upper_yaw.stl └── standard │ ├── base.stl │ ├── cover.stl │ ├── pitch.stl │ ├── standard4_base.stl │ ├── trigger.stl │ └── yaw.stl ├── package.xml └── urdf ├── auto └── auto.urdf.xacro ├── balance ├── balance.urdf.xacro ├── chassis.urdf.xacro └── reaction_wheel.urdf.xacro ├── common ├── camera.urdf.xacro ├── friction.urdf.xacro ├── imu.urdf.xacro ├── lidar2d.urdf.xacro ├── mecanum_wheel.urdf.xacro ├── omni_wheel.urdf.xacro ├── realsense_l515.urdf.xacro └── swerve_drive.urdf.xacro ├── drone ├── camera.urdf.xacro ├── chassis.urdf.xacro ├── drone.urdf.xacro ├── gimbal.transmission.urdf.xacro ├── gimbal.urdf.xacro ├── shooter.transmission.urdf.xacro └── shooter.urdf.xacro ├── engineer ├── arm.transmission.xacro ├── arm.urdf.xacro ├── chassis.urdf.xacro └── engineer.urdf.xacro ├── hero ├── chassis.urdf.xacro ├── gimbal.transmission.urdf.xacro ├── gimbal.urdf.xacro ├── hero.urdf.xacro ├── shooter.transmission.urdf.xacro └── shooter.urdf.xacro ├── rmua ├── chassis.urdf.xacro ├── friction.urdf.xacro ├── gimbal.transmission.urdf.xacro ├── gimbal.urdf.xacro ├── rmua.urdf.xacro ├── shooter.transmission.urdf.xacro └── shooter.urdf.xacro ├── sentry ├── chassis.transmission.urdf.xacro ├── chassis.urdf.xacro ├── driven_wheel1.urdf.xacro ├── driven_wheel2.urdf.xacro ├── driven_wheel3.urdf.xacro ├── lower_gimbal.transmission.urdf.xacro ├── lower_gimbal.urdf.xacro ├── lower_shooter.transmission.urdf.xacro ├── lower_shooter.urdf.xacro ├── sentry.urdf.xacro ├── upper_gimbal.transmission.urdf.xacro ├── upper_gimbal.urdf.xacro ├── upper_shooter.transmission.urdf.xacro └── upper_shooter.urdf.xacro ├── standard ├── chassis.urdf.xacro ├── gimbal.urdf.xacro └── shooter.urdf.xacro ├── standard3 ├── gimbal.transmission.urdf.xacro ├── shooter.transmission.urdf.xacro └── standard3.urdf.xacro ├── standard4 ├── chassis.urdf.xacro ├── gimbal.transmission.urdf.xacro ├── shooter.transmission.urdf.xacro └── standard4.urdf.xacro └── standard5 ├── gimbal.transmission.urdf.xacro ├── shooter.transmission.urdf.xacro └── standard5.urdf.xacro /.github/workflows/bloom-release.yml: -------------------------------------------------------------------------------- 1 | name: bloom-release 2 | on: 3 | push: 4 | paths: 5 | - package.xml 6 | - '*/package.xml' 7 | branches: 8 | - master 9 | workflow_dispatch: 10 | 11 | jobs: 12 | bloom-release: 13 | runs-on: ubuntu-latest 14 | steps: 15 | - name: checkout 16 | uses: actions/checkout@v2 17 | - name: bloom release 18 | id: bloom 19 | uses: at-wat/bloom-release-action@v0 20 | with: 21 | ros_distro: noetic 22 | github_token_bloom: ${{ secrets.BLOOM_GITHUB_TOKEN }} 23 | github_user: qiayuanliao 24 | git_user: qiayuan 25 | git_email: liaoqiayuan@gmail.com 26 | release_repository_push_url: https://github.com/${{ github.repository }}-release.git 27 | tag_and_release: true 28 | open_pr: true 29 | debug_bloom: true 30 | - name: create GitHub release 31 | uses: actions/create-release@v1 32 | continue-on-error: true 33 | env: 34 | GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} 35 | with: 36 | tag_name: ${{ steps.bloom.outputs.version }} 37 | release_name: Release ${{ steps.bloom.outputs.version }} 38 | -------------------------------------------------------------------------------- /.github/workflows/deb_package.yml: -------------------------------------------------------------------------------- 1 | name: deb-package 2 | 3 | on: 4 | push: 5 | tags: 6 | - '*' 7 | branches: 8 | - master 9 | workflow_dispatch: 10 | jobs: 11 | build: 12 | runs-on: ubuntu-latest 13 | steps: 14 | - uses: actions/checkout@v2 15 | - uses: ros-tooling/setup-ros@v0.2 16 | with: 17 | required-ros-distributions: noetic 18 | - name: Package deb 19 | uses: gdut-dynamic-x/ros-build-deb-action@v1 20 | with: 21 | ros_distro: noetic 22 | timestamp: true 23 | - name: Upload deb package to source 24 | if: ${{ github.repository == 'rm-controls/rm_description' }} 25 | uses: appleboy/scp-action@master 26 | with: 27 | host: ${{ secrets.SOURCE_SSH_HOST }} 28 | username: ${{ secrets.SOURCE_SSH_NAME }} 29 | key: ${{ secrets.SOURCE_SSH_KEYGEN }} 30 | source: "*.deb" 31 | target: "/usr/local/web/rm-source/ubuntu/incoming/" 32 | - name: Deploy deb package to source 33 | if: ${{ github.repository == 'rm-controls/rm_description' }} 34 | uses: appleboy/ssh-action@master 35 | with: 36 | host: ${{ secrets.SOURCE_SSH_HOST }} 37 | username: ${{ secrets.SOURCE_SSH_NAME }} 38 | key: ${{ secrets.SOURCE_SSH_KEYGEN }} 39 | script: | 40 | cd /usr/local/web/rm-source/ubuntu/incoming/ 41 | reprepro -s -b /usr/local/web/rm-source/ubuntu/ --waitforlock 1000 includedeb focal /usr/local/web/rm-source/ubuntu/incoming/*.deb && \ 42 | rm -f *.deb 43 | -------------------------------------------------------------------------------- /.github/workflows/format.yml: -------------------------------------------------------------------------------- 1 | # This is a format job. Pre-commit has a first-party GitHub action, so we use 2 | # that: https://github.com/pre-commit/action 3 | 4 | name: format 5 | 6 | on: 7 | workflow_dispatch: 8 | pull_request: 9 | push: 10 | 11 | jobs: 12 | pre-commit: 13 | name: pre-commit 14 | runs-on: ubuntu-latest 15 | steps: 16 | - uses: actions/checkout@v2 17 | - uses: actions/setup-python@v2 18 | - name: Install clang-format-10 19 | run: sudo apt-get install clang-format-10 20 | - name: Install catkin-lint 21 | run: | 22 | lsb_release -sc 23 | sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 24 | sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 25 | sudo apt-get -q update 26 | sudo apt-get -q install python3-rosdep 27 | sudo rosdep init 28 | rosdep update 29 | sudo apt-get -q install catkin-lint 30 | export ROS_DISTRO=noetic 31 | - uses: pre-commit/action@v2.0.0 32 | -------------------------------------------------------------------------------- /.github/workflows/industrial_ci.yml: -------------------------------------------------------------------------------- 1 | name: ci 2 | 3 | on: [ push, pull_request ] 4 | 5 | jobs: 6 | industrial_ci: 7 | strategy: 8 | matrix: 9 | env: 10 | - { ROS_DISTRO: noetic, ROS_REPO: testing } 11 | - { ROS_DISTRO: noetic, ROS_REPO: main } 12 | - { ROS_DISTRO: melodic, ROS_REPO: testing } 13 | - { ROS_DISTRO: melodic, ROS_REPO: main } 14 | env: 15 | CCACHE_DIR: /github/home/.ccache # Directory for ccache (and how we enable ccache in industrial_ci) 16 | runs-on: ubuntu-latest 17 | steps: 18 | - uses: actions/checkout@v2 19 | # This step will fetch/store the directory used by ccache before/after the ci run 20 | - uses: actions/cache@v2 21 | with: 22 | path: ${{ env.CCACHE_DIR }} 23 | key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }} 24 | # Run industrial_ci 25 | - uses: 'ros-industrial/industrial_ci@master' 26 | env: 27 | ROS_DISTRO: ${{ matrix.env.ROS_DISTRO }} 28 | ROS_REPO: ${{ matrix.env.ROS_REPO }} 29 | -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- 1 | # To use: 2 | # 3 | # pre-commit run -a 4 | # 5 | # Or: 6 | # 7 | # pre-commit install # (runs every time you commit in git) 8 | # 9 | # To update this file: 10 | # 11 | # pre-commit autoupdate 12 | # 13 | # See https://github.com/pre-commit/pre-commit 14 | 15 | repos: 16 | # Standard hooks 17 | - repo: https://github.com/pre-commit/pre-commit-hooks 18 | rev: v4.0.1 19 | hooks: 20 | - id: check-added-large-files 21 | args: [ '--maxkb=2000' ] 22 | - id: check-case-conflict 23 | - id: check-merge-conflict 24 | - id: check-symlinks 25 | - id: check-yaml 26 | - id: debug-statements 27 | - id: end-of-file-fixer 28 | - id: mixed-line-ending 29 | - id: trailing-whitespace 30 | 31 | - repo: https://github.com/psf/black 32 | rev: 20.8b1 33 | hooks: 34 | - id: black 35 | 36 | - repo: https://github.com/Lucas-C/pre-commit-hooks-markup 37 | rev: v1.0.1 38 | hooks: 39 | - id: rst-linter 40 | exclude: .*/doc/.* 41 | 42 | - repo: local 43 | hooks: 44 | - id: clang-format 45 | name: clang-format 46 | description: Format files with ClangFormat. 47 | entry: clang-format-10 48 | language: system 49 | files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$ 50 | args: [ "-fallback-style=none", "-i" ] 51 | - id: catkin_lint 52 | name: catkin_lint 53 | description: Check package.xml and cmake files 54 | entry: catkin_lint . 55 | language: system 56 | always_run: true 57 | pass_filenames: false 58 | -------------------------------------------------------------------------------- /CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package rm_description 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 0.1.9 (2022-04-01) 6 | ------------------ 7 | * Add omni wheel urdf 8 | * Complete omni wheel urdf 9 | * Add test launch file to check urdf 10 | * Rename launch file.Delete roller_type in urdf.Change args of hook 11 | * Merge pull request `#21 `_ from ye-luo-xi-tui/omni_wheel 12 | * Fix errors of swerve urdf 13 | * Add CI/CD action 14 | * Create Doxyfile 15 | * Create .pre-commit-config.yaml 16 | * Add permissions to script 17 | * Delete pre_release.yml 18 | * Merge pull request `#3 `_ from YuuinlH/-master 19 | * Merge pull request `#4 `_ from YuuinlH/-master 20 | * Update deb_package.yml 21 | * Merge pull request `#5 `_ from YuuinlH/-master 22 | * Update package.sh 23 | * Delete doxygen action(Uesless) 24 | * Add"none"type of omni_wheel roller.Set"none"for real robot 25 | * Fix error in check_joint.launch.Add rviz launch. 26 | * Merge pull request `#8 `_ from ye-luo-xi-tui/-master 27 | * Add LICENSE file 28 | * Update the hero description files 29 | * Modify the format error of hero urdf files 30 | * Merge pull request `#11 `_ from Edwinlinks/-hero_urdf 31 | * Contributors: Edwinlinks, QiayuanLiao, YuuinIH, qiayuan, yezi, mlione 32 | 33 | 0.1.8 (2021-12-7) 34 | ------------------ 35 | * Merge pull request `#19 `_ from ye-luo-xi-tui/fix_rmua_bug 36 | Fix rmua bug 37 | * Change limit of rmua. 38 | (cherry picked from commit a1e4d841dd4cda83d50189a8f5d3bd84d604d244) 39 | * Fix a bug in rmua urdf 40 | (cherry picked from commit cd6f7fac5c375cd74408620438039ca2c83437cd) 41 | * Merge branch 'master' into master 42 | * Update standard4.urdf.xacro and rm_hw/config/standard4.yaml. 43 | * Merge remote-tracking branch 'origin/master' 44 | * Merge pull request `#16 `_ from Edwinlinks/master 45 | Modify the date of standard in rm_description 46 | * Modify the date of standard in rm_description 47 | * Fix imu inertia and add imu to balance 48 | * Merge branch 'master' into gimbal/opti_or_simplify 49 | * Update CHANGELOG 50 | * Update standard5's imu orientation 51 | * Update IMU orientation of standard5.urdf.xacro 52 | * Merge branch 'master' into gimbal/opti_or_simplify 53 | * Merge branch 'master' into gimbal/opti_or_simplify 54 | * Update URDF of imu 55 | * Contributors: BruceLannn, Edwinlinks, QiayuanLiao, YuuinIH, qiayuan, yezi 56 | 57 | 0.1.7 (2021-09-26) 58 | ------------------ 59 | * 0.1.6 60 | * Update CHANGELOG 61 | * Update URDF of imu 62 | * Contributors: qiayuan 63 | 64 | 0.1.6 (2021-09-26) 65 | ------------------ 66 | * Update URDF of imu 67 | * Contributors: qiayuan 68 | 69 | 0.1.5 (2021-09-02) 70 | ------------------ 71 | 72 | 0.1.4 (2021-09-02) 73 | ------------------ 74 | 75 | 0.1.3 (2021-09-01) 76 | ------------------ 77 | * Merge branch 'master' into master 78 | * Contributors: QiayuanLiao 79 | 80 | * Merge branch 'master' into master 81 | * Contributors: QiayuanLiao 82 | 83 | 0.1.2 (2021-08-14) 84 | ------------------ 85 | * Run pre-commit 86 | * Contributors: qiayuan 87 | 88 | 0.1.1 (2021-08-12) 89 | ------------------ 90 | * Reset all version to 0.1.0 91 | * Contributors: qiayuan 92 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.10) 2 | project(rm_description) 3 | 4 | ## Find catkin macros and libraries 5 | find_package(catkin REQUIRED 6 | COMPONENTS 7 | ) 8 | 9 | ################################### 10 | ## catkin specific configuration ## 11 | ################################### 12 | catkin_package( 13 | CATKIN_DEPENDS 14 | ) 15 | 16 | ############# 17 | ## Install ## 18 | ############# 19 | 20 | # Mark resource files for installation 21 | install( 22 | DIRECTORY meshes urdf 23 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 24 | ) 25 | 26 | # Mark other files for installation 27 | install( 28 | DIRECTORY doc 29 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 30 | ) 31 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | BSD 3-Clause License 2 | 3 | Copyright (c) 2021, Qiayuan Liao 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | 9 | 1. Redistributions of source code must retain the above copyright notice, this 10 | list of conditions and the following disclaimer. 11 | 12 | 2. Redistributions in binary form must reproduce the above copyright notice, 13 | this list of conditions and the following disclaimer in the documentation 14 | and/or other materials provided with the distribution. 15 | 16 | 3. Neither the name of the copyright holder nor the names of its 17 | contributors may be used to endorse or promote products derived from 18 | this software without specific prior written permission. 19 | 20 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 21 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 22 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 23 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 24 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 25 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 26 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 27 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 28 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 29 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 30 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # rm_description 2 | 3 | ## Overview 4 | 5 | This is a ROS package with description files of RoboMaster robot made by DynamicX. 6 | 7 | **Keywords:** RoboMaster, URDF, description 8 | 9 | Or, add some keywords to the Bitbucket or GitHub repository. 10 | 11 | ### License 12 | 13 | The source code is released under a [BSD 3-Clause license](LICENSE). 14 | 15 | **Author: QiayuanLiao
16 | Affiliation: [DynamicX]()
17 | Maintainer: QiayuanLiao, liaoqiayuan@gmail.com** 18 | 19 | The rm_description package has been tested under [ROS] Noetic on respectively 18.04 and 20.04. This is research code, 20 | expect that it changes often and any fitness for a particular purpose is disclaimed. 21 | 22 | ![Example image](doc/hero_chassis_only_gazebo.png) 23 | 24 | ## Installation 25 | 26 | ### Building from Source 27 | 28 | #### Dependencies 29 | 30 | - [Robot Operating System (ROS)](http://wiki.ros.org) (middleware for robotics), 31 | - [rm_gazebo](https://github.com/gdut-dynamic-x/rm_gazebo) if `use_rm_gazbe` 32 | - gazebo_ros 33 | - gazebo_ros_control 34 | - xacro 35 | 36 | #### Building 37 | 38 | To build from source, clone the latest version from this repository into your catkin workspace and compile the package 39 | using 40 | 41 | cd catkin_workspace/src 42 | git clone git@github.com:gdut-dynamic-x/rm_description.git 43 | # git clone https://github.com/gdut-dynamic-x/rm_description.git 44 | cd ../ 45 | rosdep install --from-paths . --ignore-src 46 | catkin build # Actually nothing to build 47 | 48 | ## Usage 49 | 50 | Run the simulation with: 51 | 52 | roslaunch rm_description hero.launch 53 | 54 | ## Config files 55 | 56 | * **worlds/empty.worlds** Simulate physics eigen params. 57 | 58 | ## Launch files 59 | 60 | * **hero.launch:** Launch Gazebo and load hero robot. 61 | 62 | Loading argument set 63 | 64 | - **`load_chassis`** Load chassis URDF. Default: `true`. 65 | - **`load_gimbal`** Load gimbal URDF. Default: `true`. 66 | - **`load_shooter`** Load shooter URDF. Default: `true`. 67 | - **`load_gazebo`** Load Gazebo params and run Gazebo. Default: `true`. 68 | - **`use_rm_gazebo`** Use Gazebo params and run Gazebo. Default: `false`. 69 | - **`paused`** Paused simulation when load Gazbeo. Default: `true`. 70 | 71 | Chassis argument set 72 | - **`roller_type`** How to simulate the roller of mecanum wheel, set `simple` to use sphere roller for speed up 73 | simulation, set `none` for real robot. Default: `realistic`(use one sphere with two 74 | capsule [roller.stl](meshes/common/roller.stl)). 75 | 76 | ## Bugs & Feature Requests 77 | 78 | Please report bugs and request features using 79 | the [Issue Tracker](https://github.com/gdut-dynamic-x/rm_description/issues) 80 | . 81 | -------------------------------------------------------------------------------- /doc/hero_chassis_only_gazebo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rm-controls/rm_description/a4b31828bf964e491d3ba5a731d12c1213562feb/doc/hero_chassis_only_gazebo.png -------------------------------------------------------------------------------- /launch/check_joint.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 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https://raw.githubusercontent.com/rm-controls/rm_description/a4b31828bf964e491d3ba5a731d12c1213562feb/meshes/standard/standard4_base.stl -------------------------------------------------------------------------------- /meshes/standard/trigger.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rm-controls/rm_description/a4b31828bf964e491d3ba5a731d12c1213562feb/meshes/standard/trigger.stl -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | rm_description 4 | 0.1.9 5 | RoboMaster robot description files 6 | Qiayuan Liao 7 | BSD 8 | Qiayuan Liao 9 | 10 | 11 | catkin 12 | xacro 13 | 14 | 15 | -------------------------------------------------------------------------------- /urdf/auto/auto.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 16 | 17 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | / 37 | rm_gazebo/RmRobotHWSim 38 | 39 | 40 | 41 | 42 | 43 | 44 | -------------------------------------------------------------------------------- /urdf/balance/balance.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | / 24 | rm_gazebo/RmRobotHWSim 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /urdf/balance/chassis.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 18 | 19 | 20 | 21 | 22 | 24 | 25 | 26 | 27 | 28 | 29 | 31 | 32 | 33 | 34 | 35 | 36 | 39 | 40 | 43 | 44 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | -------------------------------------------------------------------------------- /urdf/balance/reaction_wheel.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | transmission_interface/SimpleTransmission 35 | 36 | ${mechanical_reduction} 37 | 38 | 39 | hardware_interface/EffortJointInterface 40 | 41 | 42 | 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /urdf/common/camera.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 100.0 50 | 51 | 1.3962634 52 | 53 | 1920 54 | 1080 55 | R8G8B8 56 | 57 | 58 | 0.05 59 | 5 60 | 61 | 62 | gaussian 63 | 0.0 64 | 0.007 65 | 66 | 67 | 68 | true 69 | 0.0 70 | galaxy_camera 71 | image_raw 72 | camera_info 73 | camera_optical_frame 74 | 0.07 75 | 0.0 76 | 0.0 77 | 0.0 78 | 0.0 79 | 0.0 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | -------------------------------------------------------------------------------- /urdf/common/friction.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | " 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /urdf/common/imu.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | Gazebo/Orange 30 | 31 | 32 | true 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /urdf/common/lidar2d.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | Gazebo/FlatBlack 39 | 40 | 0 0 0 ${pi/2} 0 ${pi/2} 41 | false 42 | 5 43 | 44 | 45 | 46 | 360 47 | 1 48 | -2.0 49 | 2.0 50 | 51 | 52 | 53 | 0.1 54 | 8 55 | 0.015 56 | 57 | 58 | gaussian 59 | 0.0 60 | 0.01 61 | 62 | 63 | 64 | scan 65 | ${connected_to} 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | -------------------------------------------------------------------------------- /urdf/common/mecanum_wheel.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | Gazebo/Black 67 | 68 | 69 | 70 | 71 | 73 | 74 | 75 | 76 | 77 | 78 | 80 | 81 | 82 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | transmission_interface/SimpleTransmission 129 | 130 | hardware_interface/EffortJointInterface 131 | ${mechanical_reduction} 132 | 133 | 134 | hardware_interface/EffortJointInterface 135 | 136 | 137 | 138 | 139 | 140 | -------------------------------------------------------------------------------- /urdf/common/omni_wheel.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | Gazebo/Black 58 | 59 | 60 | 61 | 62 | 64 | 65 | 66 | 67 | 68 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | transmission_interface/SimpleTransmission 123 | 124 | hardware_interface/EffortJointInterface 125 | ${mechanical_reduction} 126 | 127 | 128 | hardware_interface/EffortJointInterface 129 | 130 | 131 | 132 | 133 | 134 | -------------------------------------------------------------------------------- /urdf/common/realsense_l515.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 11 | 12 | 13 | 14 | 15 | 16 | 18 | 19 | 20 | 21 | 22 | 30 23 | 24 | 1.2217 25 | 26 | 1280 27 | 720 28 | R8G8B8 29 | 30 | 31 | 0.05 32 | 5 33 | 34 | 35 | 36 | 0.2 37 | true 38 | 0.0 39 | ${realsense_name} 40 | color/image_raw 41 | color/camera_info 42 | depth/image_rect_raw 43 | depth/camera_info 44 | depth/color/points 45 | ${realsense_name}_depth_optical_frame 46 | 0.5 47 | 3.0 48 | 0.00000001 49 | 0.00000001 50 | 0.00000001 51 | 0.00000001 52 | 0.00000001 53 | 0 54 | 0 55 | 0 56 | 0 57 | 0 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | -------------------------------------------------------------------------------- /urdf/common/swerve_drive.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 12 | 13 | 14 | 15 | 16 | 17 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 38 | 39 | 40 | 41 | 42 | 43 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | Gazebo/Black 69 | 70 | 71 | 72 | 73 | 74 | 75 | transmission_interface/SimpleTransmission 76 | 77 | -1 78 | 79 | 80 | ${pivot_offset} 81 | hardware_interface/EffortJointInterface 82 | 83 | 84 | 85 | 86 | transmission_interface/SimpleTransmission 87 | 88 | ${wheel_reduction} 89 | 90 | 91 | hardware_interface/EffortJointInterface 92 | 93 | 94 | 95 | 96 | 97 | -------------------------------------------------------------------------------- /urdf/drone/camera.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /urdf/drone/chassis.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /urdf/drone/drone.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | / 29 | rm_gazebo/RmRobotHWSim 30 | 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /urdf/drone/gimbal.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | -1 8 | 9 | 10 | 5.20927 11 | hardware_interface/EffortJointInterface 12 | 13 | 14 | 15 | 16 | transmission_interface/SimpleTransmission 17 | 18 | 11 19 | 20 | 21 | 0.887 22 | hardware_interface/EffortJointInterface 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /urdf/drone/gimbal.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 34 | 35 | 36 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | -------------------------------------------------------------------------------- /urdf/drone/shooter.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | 2.5 8 | 9 | 10 | hardware_interface/EffortJointInterface 11 | 0.2 12 | 13 | 14 | 15 | 16 | transmission_interface/SimpleTransmission 17 | 18 | -1 19 | 20 | 21 | hardware_interface/EffortJointInterface 22 | 23 | 24 | 25 | 26 | transmission_interface/SimpleTransmission 27 | 28 | -1 29 | 30 | 31 | hardware_interface/EffortJointInterface 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /urdf/drone/shooter.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 14 | 15 | 18 | 19 | 20 | 21 | 22 | 23 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /urdf/engineer/arm.transmission.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | transmission_interface/SimpleTransmission 9 | 10 | 406.489213 11 | 12 | 13 | hardware_interface/EffortJointInterface 14 | 0 15 | 16 | 17 | 18 | 19 | transmission_interface/SimpleTransmission 20 | 21 | 476.977368 22 | 23 | 24 | hardware_interface/EffortJointInterface 25 | 0 26 | 27 | 28 | 29 | 30 | transmission_interface/SimpleTransmission 31 | 32 | 1036.0854 33 | 34 | 35 | hardware_interface/EffortJointInterface 36 | 0 37 | 38 | 39 | 40 | 41 | transmission_interface/SimpleTransmission 42 | 43 | 328.29 44 | 45 | 46 | hardware_interface/EffortJointInterface 47 | 0.3415371896670 48 | 49 | 50 | 51 | 52 | transmission_interface/SimpleTransmission 53 | 54 | 50.895 55 | 56 | 57 | hardware_interface/EffortJointInterface 58 | 0 59 | 60 | 61 | 62 | 63 | transmission_interface/SimpleTransmission 64 | 65 | 50.895 66 | 67 | 68 | hardware_interface/EffortJointInterface 69 | 0 70 | 71 | 72 | 73 | 74 | transmission_interface/SimpleTransmission 75 | 76 | 19.2032 77 | 78 | 79 | hardware_interface/EffortJointInterface 80 | 0 81 | 82 | 83 | 84 | 85 | 86 | transmission_interface/SimpleTransmission 87 | 88 | -406.489213 89 | 90 | 91 | hardware_interface/EffortJointInterface 92 | 0 93 | 94 | 95 | 96 | 97 | transmission_interface/SimpleTransmission 98 | 99 | -476.977368 100 | 101 | 102 | hardware_interface/EffortJointInterface 103 | 0 104 | 105 | 106 | 107 | 108 | transmission_interface/SimpleTransmission 109 | 110 | -1036.0854 111 | 112 | 113 | hardware_interface/EffortJointInterface 114 | 0 115 | 116 | 117 | 118 | 119 | 120 | 121 | -------------------------------------------------------------------------------- /urdf/engineer/arm.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 268 | 269 | 270 | 271 | 272 | 273 | 274 | 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | 286 | 287 | 288 | 289 | 290 | 291 | 292 | 293 | 294 | 295 | 296 | 297 | 298 | 299 | 300 | 301 | 302 | 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | 311 | 312 | 313 | 314 | 315 | 316 | 317 | 318 | 319 | 320 | 321 | 322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 335 | 336 | 337 | 338 | 339 | 340 | 341 | 342 | 343 | 344 | 345 | 346 | 347 | 348 | 349 | 350 | 351 | 352 | 353 | 354 | 355 | 356 | 357 | 358 | 359 | 360 | 361 | 362 | 363 | 364 | 365 | 366 | 367 | 368 | 369 | 370 | 371 | 372 | 373 | 374 | 375 | 376 | 377 | 378 | 379 | 380 | 381 | 382 | 383 | 384 | 385 | 386 | 387 | 388 | 389 | 390 | 391 | 392 | 393 | 394 | 395 | 396 | 397 | 398 | 399 | 400 | 401 | -------------------------------------------------------------------------------- /urdf/engineer/chassis.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | transmission_interface/SimpleTransmission 187 | 188 | 50.895 189 | 190 | 191 | 0 192 | hardware_interface/EffortJointInterface 193 | 194 | 195 | 196 | 197 | transmission_interface/SimpleTransmission 198 | 199 | 1 200 | 201 | 202 | 0 203 | hardware_interface/EffortJointInterface 204 | 205 | 206 | 207 | 210 | 213 | 216 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | -------------------------------------------------------------------------------- /urdf/engineer/engineer.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | / 23 | rm_gazebo/RmRobotHWSim 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /urdf/hero/chassis.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 39 | 44 | 49 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | -------------------------------------------------------------------------------- /urdf/hero/gimbal.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | -1 8 | 9 | 10 | -0.561505488 11 | hardware_interface/EffortJointInterface 12 | 13 | 14 | 15 | 16 | transmission_interface/SimpleTransmission 17 | 18 | -1 19 | 20 | 21 | 2.180819812 22 | hardware_interface/EffortJointInterface 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /urdf/hero/gimbal.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | -------------------------------------------------------------------------------- /urdf/hero/hero.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 22 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | / 38 | rm_gazebo/RmRobotHWSim 39 | 40 | 41 | 42 | 43 | 44 | -------------------------------------------------------------------------------- /urdf/hero/shooter.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | 69.544 8 | 9 | 10 | hardware_interface/EffortJointInterface 11 | 0.4 12 | 13 | 14 | 15 | 16 | transmission_interface/SimpleTransmission 17 | 18 | 1 19 | 20 | 21 | hardware_interface/EffortJointInterface 22 | 23 | 24 | 25 | 26 | transmission_interface/SimpleTransmission 27 | 28 | 1 29 | 30 | 31 | hardware_interface/EffortJointInterface 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /urdf/hero/shooter.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 14 | 15 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | -------------------------------------------------------------------------------- /urdf/rmua/chassis.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 34 | 38 | 42 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | -------------------------------------------------------------------------------- /urdf/rmua/friction.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | " 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /urdf/rmua/gimbal.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | 1 8 | 9 | 10 | -3.675 11 | hardware_interface/EffortJointInterface 12 | 13 | 14 | 15 | 16 | transmission_interface/SimpleTransmission 17 | 18 | -1 19 | 20 | 21 | 4.779 22 | hardware_interface/EffortJointInterface 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /urdf/rmua/gimbal.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 34 | 35 | 36 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | -------------------------------------------------------------------------------- /urdf/rmua/rmua.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | / 33 | rm_gazebo/RmRobotHWSim 34 | 35 | 36 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /urdf/rmua/shooter.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | 1 8 | 9 | 10 | hardware_interface/EffortJointInterface 11 | 12 | 13 | 14 | 15 | transmission_interface/SimpleTransmission 16 | 17 | -1 18 | 19 | 20 | hardware_interface/EffortJointInterface 21 | 22 | 23 | 24 | 25 | transmission_interface/SimpleTransmission 26 | 27 | -1 28 | 29 | 30 | hardware_interface/EffortJointInterface 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /urdf/rmua/shooter.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 16 | 17 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | -------------------------------------------------------------------------------- /urdf/sentry/chassis.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | -13 8 | 9 | 10 | hardware_interface/EffortJointInterface 11 | 12 | 13 | 14 | 15 | transmission_interface/SimpleTransmission 16 | 17 | -1 18 | 19 | 20 | 0.28 21 | hardware_interface/EffortJointInterface 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /urdf/sentry/chassis.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | -------------------------------------------------------------------------------- /urdf/sentry/driven_wheel1.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | 18 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | -------------------------------------------------------------------------------- /urdf/sentry/driven_wheel2.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | 18 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | -------------------------------------------------------------------------------- /urdf/sentry/driven_wheel3.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | 18 | 20 | 21 | 22 | 23 | 24 | 25 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | -------------------------------------------------------------------------------- /urdf/sentry/lower_gimbal.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | transmission_interface/SimpleTransmission 5 | 6 | -1 7 | 8 | 9 | 1.583 10 | hardware_interface/EffortJointInterface 11 | 12 | 13 | 14 | 15 | transmission_interface/SimpleTransmission 16 | 17 | 11 18 | 19 | 20 | 0.84 21 | hardware_interface/EffortJointInterface 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /urdf/sentry/lower_gimbal.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | 19 | 20 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | -------------------------------------------------------------------------------- /urdf/sentry/lower_shooter.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | 1 8 | 9 | 10 | hardware_interface/EffortJointInterface 11 | 12 | 13 | 14 | 15 | 16 | transmission_interface/SimpleTransmission 17 | 18 | 1 19 | 20 | 21 | hardware_interface/EffortJointInterface 22 | 23 | 24 | 25 | 26 | transmission_interface/SimpleTransmission 27 | 28 | 1 29 | 30 | 31 | hardware_interface/EffortJointInterface 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /urdf/sentry/lower_shooter.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 14 | 15 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | -------------------------------------------------------------------------------- /urdf/sentry/sentry.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 26 | 27 | 28 | 29 | 30 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | / 49 | rm_gazebo/RmRobotHWSim 50 | 51 | 52 | 53 | 54 | 55 | -------------------------------------------------------------------------------- /urdf/sentry/upper_gimbal.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | 1 8 | 9 | 10 | 2.6 11 | hardware_interface/EffortJointInterface 12 | 13 | 14 | 15 | 16 | transmission_interface/SimpleTransmission 17 | 18 | -11 19 | 20 | 21 | 0.47 22 | hardware_interface/EffortJointInterface 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /urdf/sentry/upper_gimbal.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | 19 | 20 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | -------------------------------------------------------------------------------- /urdf/sentry/upper_shooter.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | -2.5 8 | 9 | 10 | hardware_interface/EffortJointInterface 11 | 12 | 13 | 14 | 15 | 16 | transmission_interface/SimpleTransmission 17 | 18 | 1 19 | 20 | 21 | hardware_interface/EffortJointInterface 22 | 23 | 24 | 25 | 26 | transmission_interface/SimpleTransmission 27 | 28 | 1 29 | 30 | 31 | hardware_interface/EffortJointInterface 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /urdf/sentry/upper_shooter.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | -------------------------------------------------------------------------------- /urdf/standard/chassis.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 37 | 42 | 47 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | -------------------------------------------------------------------------------- /urdf/standard/gimbal.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | -------------------------------------------------------------------------------- /urdf/standard/shooter.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 15 | 16 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | -------------------------------------------------------------------------------- /urdf/standard3/gimbal.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | 1 8 | 9 | 10 | -0.502 11 | hardware_interface/EffortJointInterface 12 | 13 | 14 | 15 | 16 | transmission_interface/SimpleTransmission 17 | 18 | -11 19 | 20 | 21 | 0.483 22 | hardware_interface/EffortJointInterface 23 | 24 | 25 | 26 | 27 | transmission_interface/SimpleTransmission 28 | 29 | -1 30 | 31 | 32 | 0 33 | hardware_interface/EffortJointInterface 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /urdf/standard3/shooter.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | -2.5 8 | 9 | 10 | hardware_interface/EffortJointInterface 11 | 0.2 12 | 13 | 14 | 15 | 16 | transmission_interface/SimpleTransmission 17 | 18 | 1 19 | 20 | 21 | hardware_interface/EffortJointInterface 22 | 23 | 24 | 25 | 26 | transmission_interface/SimpleTransmission 27 | 28 | 1 29 | 30 | 31 | hardware_interface/EffortJointInterface 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /urdf/standard3/standard3.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 24 | 29 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | / 43 | rm_gazebo/RmRobotHWSim 44 | 45 | 46 | 47 | 48 | 49 | -------------------------------------------------------------------------------- /urdf/standard4/chassis.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 37 | 42 | 47 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | -------------------------------------------------------------------------------- /urdf/standard4/gimbal.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | 1 8 | 9 | 10 | 0.519315868 11 | hardware_interface/EffortJointInterface 12 | 13 | 14 | 15 | 16 | transmission_interface/SimpleTransmission 17 | 18 | -11 19 | 20 | 21 | 0.465 22 | hardware_interface/EffortJointInterface 23 | 24 | 25 | 26 | 27 | transmission_interface/SimpleTransmission 28 | 29 | -1 30 | 31 | 32 | 0 33 | hardware_interface/EffortJointInterface 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /urdf/standard4/shooter.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | -2.5 8 | 9 | 10 | hardware_interface/EffortJointInterface 11 | 0.3 12 | 13 | 14 | 15 | 16 | transmission_interface/SimpleTransmission 17 | 18 | 1 19 | 20 | 21 | hardware_interface/EffortJointInterface 22 | 23 | 24 | 25 | 26 | transmission_interface/SimpleTransmission 27 | 28 | 1 29 | 30 | 31 | hardware_interface/EffortJointInterface 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /urdf/standard4/standard4.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 24 | 29 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | / 43 | rm_gazebo/RmRobotHWSim 44 | 45 | 46 | 47 | 48 | 49 | -------------------------------------------------------------------------------- /urdf/standard5/gimbal.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | 1 8 | 9 | 10 | -1.418 11 | hardware_interface/EffortJointInterface 12 | 13 | 14 | 15 | 16 | transmission_interface/SimpleTransmission 17 | 18 | -1 19 | 20 | 21 | 1.393 22 | hardware_interface/EffortJointInterface 23 | 24 | 25 | 26 | 27 | transmission_interface/SimpleTransmission 28 | 29 | 1 30 | 31 | 32 | 0 33 | hardware_interface/EffortJointInterface 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /urdf/standard5/shooter.transmission.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | 1 8 | 9 | 10 | hardware_interface/EffortJointInterface 11 | 12 | 13 | 14 | 15 | transmission_interface/SimpleTransmission 16 | 17 | -1 18 | 19 | 20 | hardware_interface/EffortJointInterface 21 | 22 | 23 | 24 | 25 | transmission_interface/SimpleTransmission 26 | 27 | -1 28 | 29 | 30 | hardware_interface/EffortJointInterface 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /urdf/standard5/standard5.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | / 39 | rm_gazebo/RmRobotHWSim 40 | 41 | 42 | 43 | 44 | 45 | --------------------------------------------------------------------------------