SHERPA/sherpa_ros2_ws
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wip: removed unused files

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This commit is contained in:
Timo Schneider
2025-04-09 07:56:21 +02:00
parent e2de961537
commit 9d8ad57a6a
1 changed files with 25 additions and 17 deletions
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42
src/sherpa/urdf/sherpa.urdf
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@@ -131,7 +131,7 @@
<ode>
<mu>1.2</mu>
<mu2>0</mu2>
<fdir1 gz:expressed_in="base">1 1 0</fdir1>
<fdir1 gz:expressed_in="base_link">1 1 0</fdir1>
</ode>
</friction>
</surface>
@@ -165,7 +165,7 @@
<ode>
<mu>1.2</mu>
<mu2>0</mu2>
<fdir1 gz:expressed_in="base">1 -1 0</fdir1>
<fdir1 gz:expressed_in="base_link">1 -1 0</fdir1>
</ode>
</friction>
</surface>
@@ -199,7 +199,7 @@
<ode>
<mu>1.2</mu>
<mu2>0</mu2>
<fdir1 gz:expressed_in="base">1 -1 0</fdir1>
<fdir1 gz:expressed_in="base_link">1 -1 0</fdir1>
</ode>
</friction>
</surface>
@@ -233,7 +233,7 @@
<ode>
<mu>1.2</mu>
<mu2>0</mu2>
<fdir1 gz:expressed_in="base">1 1 0</fdir1>
<fdir1 gz:expressed_in="base_link">1 1 0</fdir1>
</ode>
</friction>
</surface>
@@ -246,17 +246,25 @@
<limit effort="100000" velocity="5"/>
<origin rpy="0 0 0" xyz="-0.11 0.11 0"/>
</joint>
<gazebo>
<plugin filename="gz-sim-mecanum-drive-system" name="gz::sim::systems::MecanumDrive">
<front_left_joint>wheel_fl_joint</front_left_joint>
<front_right_joint>wheel_fr_joint</front_right_joint>
<back_left_joint>wheel_bl_joint</back_left_joint>
<back_right_joint>wheel_br_joint</back_right_joint>
<wheel_separation>0.22</wheel_separation>
<wheelbase>0.22</wheelbase>
<wheel_radius>0.04</wheel_radius>
<min_acceleration>-5</min_acceleration>
<max_acceleration>5</max_acceleration>
</plugin>
</gazebo>
<ros2_control name="SherpaSystem" type="system">
<hardware>
<plugin>ros2_control/GenericSystemInterface</plugin>
</hardware>
<joint name="wheel_fl_joint">
<command_interface name="velocity"/>
<state_interface name="velocity"/>
</joint>
<joint name="wheel_fr_joint">
<command_interface name="velocity"/>
<state_interface name="velocity"/>
</joint>
<joint name="wheel_bl_joint">
<command_interface name="velocity"/>
<state_interface name="velocity"/>
</joint>
<joint name="wheel_br_joint">
<command_interface name="velocity"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</robot>