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  1. <?xml version="1.0"?>
  2.  
  3.  
  4. <robot name="moon" xmlns:xacro="https://www.ros.org/wiki/xacro" >
  5.  
  6.  
  7. <xacro:property name="namespace" value="rmoon"/>
  8.  
  9. <link name="base">
  10. <inertial>
  11. <mass value="1" />
  12.  
  13. <origin xyz="0 0 0" />
  14.  
  15. <inertia ixx="1.0" ixy="0.0" ixz="0.0"
  16. iyy="1.0" iyz="0.0"
  17. izz="1.0" />
  18. </inertial>
  19.  
  20. <visual>
  21. <origin xyz="0 0 0" rpy="0 0 0" />
  22. <geometry>
  23. <cylinder length="0.01" radius="0.01" />
  24. </geometry>
  25. <material name="DarkGray" />
  26. </visual>
  27.  
  28. <collision>
  29. <origin xyz="0 0 0" rpy="0 0 0" />
  30. <geometry>
  31. <cylinder length="0.01" radius="0.01" />
  32. </geometry>
  33. </collision>
  34. </link>
  35. <link name="rmid">
  36. <inertial>
  37. <mass value="28" />
  38.  
  39. <origin xyz="0 0 0" />
  40.  
  41. <inertia ixx="0.23768117187" ixy="-0.11662223437" ixz="-0.00455892187
  42. " iyy="0.22683235937" iyz="0.00430353125" izz="0.42137089062" />
  43. </inertial>
  44.  
  45. <visual>
  46. <origin xyz="0 0 0" rpy="0 0 0" />
  47. <geometry>
  48. <mesh filename="package://moon/src/meshes/tmid.stl" />
  49. </geometry>
  50. <material name="DarkGray" />
  51. </visual>
  52.  
  53. <collision>
  54. <origin xyz="0 0 0" rpy="0 0 0" />
  55. <geometry>
  56. <mesh filename="package://moon/src/meshes/tmid.stl" />
  57. </geometry>
  58. </collision>
  59. </link>
  60.  
  61. <link name="lmid">
  62. <inertial>
  63. <mass value="28" />
  64.  
  65. <origin xyz="0 0 0" />
  66.  
  67. <inertia ixx="0.23768117187" ixy="-0.11662223437" ixz="-0.00455892187
  68. " iyy="0.22683235937" iyz="0.00430353125" izz="0.42137089062"/>
  69. </inertial>
  70.  
  71. <visual>
  72. <origin xyz="0 0 0" rpy="0 0 0" />
  73. <geometry>
  74. <mesh filename="package://moon/src/meshes/rtmid.stl" />
  75. </geometry>
  76. <material name="DarkGray" />
  77. </visual>
  78.  
  79. <collision>
  80. <origin xyz="0 0 0" rpy="0 0 0" />
  81. <geometry>
  82. <mesh filename="package://moon/src/meshes/rtmid.stl" />
  83. </geometry>
  84. </collision>
  85. </link>
  86. <joint name="LefttoRight" type="revolute">
  87. <origin rpy="0 0 0" xyz="0 0 0"/>
  88. <child link="lmid" />
  89. <parent link="base"/>
  90. <axis rpy="0 0 0" xyz="0 1 0 "/>
  91. <limit effort="500" velocity="10" lower="-1.57079632679" upper="1.57079632679"/>
  92. <joint_properties damping="5" friction="6" />
  93. </joint>
  94. <joint name="rightToLeft" type="revolute">
  95. <origin rpy="0 0 0" xyz="0 0 0"/>
  96. <child link="rmid" />
  97. <parent link="base"/>
  98. <axis rpy="0 0 0" xyz="0 1 0 "/>
  99. <limit effort="500" velocity="10" lower="-1.57079632679" upper="1.57079632679"/>
  100. <joint_properties damping="5" friction="6" />
  101. </joint>
  102.  
  103.  
  104. <link name="forebody">
  105. <inertial>
  106. <mass value="50" />
  107.  
  108. <origin xyz="0 0 0.1" />
  109.  
  110. <inertia ixx="2.50531372" ixy="0" ixz="0" iyy="3.13793579" iyz="0" izz="5.269990235"/>
  111. </inertial>
  112.  
  113. <visual>
  114. <origin xyz="0 0 0.1" rpy="0 0 0" />
  115. <geometry>
  116. <mesh filename="package://moon/src/meshes/tbod.stl" />
  117. </geometry>
  118. <material name="DarkGray" />
  119. </visual>
  120. <max_contacts>1</max_contacts>
  121. <surface>
  122. <friction>
  123. <ode>
  124. <mu>100.0</mu>
  125. <mu2>50.0</mu2>
  126. -
  127. <fdir1>1 0 0</fdir1>
  128. <slip1>0.0</slip1>
  129. <slip2>0.0</slip2>
  130. </ode>
  131. </friction>
  132. <contact>
  133. <ode>
  134. -
  135. + <min_depth>0.005</min_depth>
  136. <kp>1e8</kp>
  137. </ode>
  138. </contact>
  139. </surface>
  140. <collision>
  141. <origin xyz="0 0 0.1" rpy="0 0 0" />
  142. <geometry>
  143. <mesh filename="package://moon/src/meshes/tbod.stl" />
  144. </geometry>
  145. </collision>
  146. </link>
  147. <joint name="fore" type="prismatic">
  148. <origin rpy="0 0 0" xyz="0.600000 0 0.01950"/>
  149. <child link="forebody" />
  150. <parent link="lmid"/>
  151. <axis rpy="0 0 0" xyz="1 0 0"/>
  152. <limit effort="20000" velocity="10" lower="0" upper="0.28"/>
  153. <joint_properties damping="1" friction="1" />
  154. </joint>
  155.  
  156. <link name="aftbody">
  157. <inertial>
  158. <mass value="50" />
  159.  
  160. <origin xyz="0 0 0.1" />
  161.  
  162. <inertia ixx="2.50531372" ixy="0" ixz="0" iyy="3.13793579" iyz="0" izz="5.269990235" />
  163. </inertial>
  164.  
  165. <visual>
  166. <origin xyz="0 0 0.1" rpy="0 0 0" />
  167. <geometry>
  168. <mesh filename="package://moon/src/meshes/rtbod.stl" />
  169. </geometry>
  170. <material name="DarkGray" />
  171. </visual>
  172. <max_contacts>1</max_contacts>
  173. <surface>
  174. <friction>
  175. <ode>
  176. <mu>100.0</mu>
  177. <mu2>50.0</mu2>
  178. -
  179. + <fdir1>1 0 0</fdir1>
  180. <slip1>0.0</slip1>
  181. <slip2>0.0</slip2>
  182. </ode>
  183. </friction>
  184. <contact>
  185. <ode>
  186. -
  187. + <min_depth>0.005</min_depth>
  188. <kp>1e8</kp>
  189. </ode>
  190. </contact>
  191. </surface>
  192. <collision>
  193. <origin xyz="0 0 0.1" rpy="0 0 0" />
  194. <geometry>
  195. <mesh filename="package://moon/src/meshes/rtbod.stl" />
  196. </geometry>
  197. </collision>
  198. </link>
  199. <joint name="aft" type="prismatic">
  200. <origin rpy="0 0 0" xyz="-0.600000 0 0.01950"/>
  201. <child link="aftbody" />
  202. <parent link="rmid"/>
  203. <axis rpy="0 0 0" xyz="1 0 0"/>
  204. <limit effort="20000" velocity="10" lower="-0.28" upper="0"/>
  205. <joint_properties damping="1" friction="1" />
  206. </joint>
  207.  
  208. <link name="foreRightTire">
  209. <inertial>
  210. <mass value="8" />
  211.  
  212. <origin xyz="0 0 0" />
  213.  
  214. <inertia ixx="0.2538" ixy="0" ixz="0" iyy="0.1479" iyz="0" izz="0.1480" />
  215. </inertial>
  216.  
  217. <visual>
  218. <origin xyz="0 0 0" rpy="0 0 0" />
  219. <geometry>
  220. <mesh filename="package://moon/src/meshes/tire.stl" />
  221. </geometry>
  222. <material name="DarkGray" />
  223. </visual>
  224. <max_contacts>1</max_contacts>
  225. <surface>
  226. <friction>
  227. <ode>
  228. <mu>100.0</mu>
  229. <mu2>50.0</mu2>
  230. -
  231. + <fdir1>1 0 0</fdir1>
  232. <slip1>0.0</slip1>
  233. <slip2>0.0</slip2>
  234. </ode>
  235. </friction>
  236. <contact>
  237. <ode>
  238. -
  239. + <min_depth>0.005</min_depth>
  240. <kp>1e8</kp>
  241. </ode>
  242. </contact>
  243. </surface>
  244. <collision>
  245. <origin xyz="0 0 0" rpy="0 1.57079632679 0" />
  246. <geometry>
  247. <cylinder length="0.2" radius="0.3" />
  248. </geometry>
  249. </collision>
  250. </link>
  251. <joint name="foreRightTire_j" type="continuous">
  252. <origin rpy="0 0 -1.57079632679" xyz="0.15 0.5 -0.025000"/>
  253. <child link="foreRightTire" />
  254. <parent link="forebody"/>
  255.  
  256. <axis rpy="0 0 0" xyz="1 0 0 "/>
  257. <limit effort="1000" velocity="100" />
  258. <joint_properties damping="1" friction="1" />
  259. </joint>
  260. <gazebo reference="foreRightTire">
  261. <material>Gazebo/FlatBlack</material>
  262. <turnGravityOff>false</turnGravityOff>
  263.  
  264.  
  265. </gazebo>
  266. <link name="foreLeftTire">
  267. <inertial>
  268. <mass value="8" />
  269.  
  270. <origin xyz="0 0 0" />
  271.  
  272. <inertia ixx="0.2538" ixy="0" ixz="0" iyy="0.1479" iyz="0" izz="0.1480" />
  273. </inertial>
  274.  
  275. <visual>
  276. <origin xyz="0 0 0" rpy="0 0 0" />
  277. <geometry>
  278. <mesh filename="package://moon/src/meshes/tire.stl" />
  279. </geometry>
  280. <material name="DarkGray" />
  281. </visual>
  282. <max_contacts>1</max_contacts>
  283. <surface>
  284. <friction>
  285. <ode>
  286. <mu>100.0</mu>
  287. <mu2>50.0</mu2>
  288. -
  289. + <fdir1>1 0 0</fdir1>
  290. <slip1>0.0</slip1>
  291. <slip2>0.0</slip2>
  292. </ode>
  293. </friction>
  294. <contact>
  295. <ode>
  296. -
  297. + <min_depth>0.005</min_depth>
  298. <kp>1e8</kp>
  299. </ode>
  300. </contact>
  301. </surface>
  302. <collision>
  303. <origin xyz="0 0 0" rpy="0 1.57079632679 0" />
  304. <geometry>
  305. <cylinder length="0.2" radius="0.3" />
  306. </geometry>
  307. </collision>
  308. </link>
  309. <gazebo reference="foreLeftTire">
  310. <material>Gazebo/FlatBlack</material>
  311. <turnGravityOff>false</turnGravityOff>
  312.  
  313.  
  314.  
  315. </gazebo>
  316. <joint name="foreLeftTire_j" type="continuous">
  317. <origin rpy="0 0 1.57079632679" xyz="0.15 -0.5 -0.025000"/>
  318. <child link="foreLeftTire" />
  319. <parent link="forebody"/>
  320. <axis rpy="0 0 0" xyz="1 0 0 "/>
  321. <limit effort="1000" velocity="100" />
  322. <joint_properties damping="1" friction="1" />
  323. </joint>
  324. <link name="aftRightTire">
  325. <inertial>
  326. <mass value="8" />
  327.  
  328. <origin xyz="0 0 0" />
  329.  
  330. <inertia ixx="0.2538" ixy="0" ixz="0" iyy="0.1479" iyz="0" izz="0.1480" />
  331. </inertial>
  332.  
  333. <visual>
  334. <origin xyz="0 0 0" rpy="0 0 0" />
  335. <geometry>
  336. <mesh filename="package://moon/src/meshes/tire.stl" />
  337. </geometry>
  338. <material name="DarkGray" />
  339. </visual>
  340. <max_contacts>1</max_contacts>
  341. <surface>
  342. <friction>
  343. <ode>
  344. <mu>100.0</mu>
  345. <mu2>50.0</mu2>
  346. + <fdir1>1 0 0</fdir1>
  347. <slip1>0.0</slip1>
  348. <slip2>0.0</slip2>
  349. </ode>
  350. </friction>
  351. <contact>
  352. <ode>
  353. -
  354. + <min_depth>0.005</min_depth>
  355. <kp>1e8</kp>
  356. </ode>
  357. </contact>
  358. </surface>
  359. <collision>
  360. <origin xyz="0 0 0" rpy="0 1.57079632679 0" />
  361. <geometry>
  362. <cylinder length="0.2" radius="0.3" />
  363. </geometry>
  364. </collision>
  365. </link>
  366. <gazebo reference="aftRightTire">
  367. <material>Gazebo/FlatBlack</material>
  368. <turnGravityOff>false</turnGravityOff>
  369.  
  370.  
  371.  
  372. </gazebo>
  373. <joint name="aftRightTire_j" type="continuous">
  374. <origin rpy="0 0 -1.57079632679" xyz="-0.15 0.5 -0.025000"/>
  375. <child link="aftRightTire" />
  376. <parent link="aftbody"/>
  377. <axis rpy="0 0 0" xyz="1 0 0 "/>
  378. <limit effort="1000" velocity="100" />
  379. <joint_properties damping="1" friction="1" />
  380. </joint>
  381. <link name="aftLeftTire">
  382. <inertial>
  383. <mass value="8" />
  384.  
  385. <origin xyz="0 0 0" />
  386.  
  387. <inertia ixx="0.2538" ixy="0" ixz="0" iyy="0.1479" iyz="0" izz="0.1480" />
  388. </inertial>
  389.  
  390. <visual>
  391. <origin xyz="0 0 0" rpy="0 0 0" />
  392. <geometry>
  393. <mesh filename="package://moon/src/meshes/tire.stl" />
  394. </geometry>
  395. <material name="DarkGray" />
  396. </visual>
  397. <max_contacts>1</max_contacts>
  398. <surface>
  399. <friction>
  400. <ode>
  401. <mu>100.0</mu>
  402. <mu2>50.0</mu2>
  403. -
  404. + <fdir1>1 0 0</fdir1>
  405. <slip1>0.0</slip1>
  406. <slip2>0.0</slip2>
  407. </ode>
  408. </friction>
  409. <contact>
  410. <ode>
  411. -
  412. + <min_depth>0.005</min_depth>
  413. <kp>1e8</kp>
  414. </ode>
  415. </contact>
  416. </surface>
  417. <collision>
  418. <origin xyz="0 0 0" rpy="0 1.57079632679 0" />
  419. <geometry>
  420. <cylinder length="0.2" radius="0.3" />
  421. </geometry>
  422. </collision>
  423. </link>
  424. <gazebo reference="aftLeftTire">
  425. <material>Gazebo/FlatBlack</material>
  426. <turnGravityOff>false</turnGravityOff>
  427.  
  428.  
  429.  
  430. </gazebo>
  431. <joint name="aftLeftTire_j" type="continuous">
  432. <origin rpy="0 0 1.57079632679" xyz="-0.15 -0.5 -0.025000"/>
  433. <child link="aftLeftTire" />
  434. <parent link="aftbody"/>
  435. <axis rpy="0 0 0" xyz="1 0 0 "/>
  436. <limit effort="1000" velocity="100" />
  437. <joint_properties damping="1" friction="1" />
  438. </joint>
  439. <link name="midLeftTire">
  440. <inertial>
  441. <mass value="8" />
  442.  
  443. <origin xyz="0 0 0" />
  444.  
  445. <inertia ixx="0.2538" ixy="0" ixz="0" iyy="0.1479" iyz="0" izz="0.1480" />
  446. </inertial>
  447.  
  448. <visual>
  449. <origin xyz="0 0 0" rpy="0 0 0" />
  450. <geometry>
  451. <mesh filename="package://moon/src/meshes/tire.stl" />
  452. </geometry>
  453. <material name="DarkGray" />
  454. </visual>
  455. <max_contacts>1</max_contacts>
  456. <surface>
  457. <friction>
  458. <ode>
  459. <mu>100.0</mu>
  460. <mu2>50.0</mu2>
  461. -
  462. + <fdir1>1 0 0</fdir1>
  463. <slip1>0.0</slip1>
  464. <slip2>0.0</slip2>
  465. </ode>
  466. </friction>
  467. <contact>
  468. <ode>
  469. -
  470. + <min_depth>0.005</min_depth>
  471. <kp>1e8</kp>
  472. </ode>
  473. </contact>
  474. </surface>
  475. <collision>
  476. <origin xyz="0 0 0" rpy="0 1.57079632679 0" />
  477. <geometry>
  478. <cylinder length="0.2" radius="0.3" />
  479. </geometry>
  480. </collision>
  481. </link>
  482. <gazebo reference="midLeftTire">
  483. <material>Gazebo/FlatBlack</material>
  484. <turnGravityOff>false</turnGravityOff>
  485.  
  486.  
  487. </gazebo>
  488. <joint name="midLeftTire_j" type="continuous">
  489. <origin rpy="0 0 1.57079632679" xyz="0 -0.5 0.005000"/>
  490. <child link="midLeftTire" />
  491. <parent link="lmid"/>
  492. <axis rpy="0 0 0" xyz="1 0 0 "/>
  493. <limit effort="1000" velocity="100" />
  494. <joint_properties damping="1" friction="1" />
  495. </joint>
  496. <link name="midRightTire">
  497. <inertial>
  498. <mass value="8" />
  499.  
  500. <origin xyz="0 0 0" />
  501.  
  502. <inertia ixx="0.2538" ixy="0" ixz="0" iyy="0.1479" iyz="0" izz="0.1480" />
  503. </inertial>
  504.  
  505. <visual>
  506. <origin xyz="0 0 0" rpy="0 0 0" />
  507. <geometry>
  508. <mesh filename="package://moon/src/meshes/tire.stl" />
  509. </geometry>
  510. <material name="DarkGray" />
  511. </visual>
  512. <max_contacts>1</max_contacts>
  513. <surface>
  514. <friction>
  515. <ode>
  516. <mu>100.0</mu>
  517. <mu2>50.0</mu2>
  518. -
  519. + <fdir1>1 0 0</fdir1>
  520. <slip1>0.0</slip1>
  521. <slip2>0.0</slip2>
  522. </ode>
  523. </friction>
  524. <contact>
  525. <ode>
  526. -
  527. + <min_depth>0.000001</min_depth>
  528. <kp>1e8</kp>
  529. </ode>
  530. </contact>
  531. </surface>
  532. <collision>
  533. <origin xyz="0 0 0" rpy="0 1.57079632679 0" />
  534. <geometry>
  535. <cylinder length="0.2" radius="0.3" />
  536. </geometry>
  537. </collision>
  538. </link>
  539. <gazebo reference="midRightTire">
  540. <material>Gazebo/FlatBlack</material>
  541. <turnGravityOff>false</turnGravityOff>
  542. </gazebo>
  543.  
  544. <joint name="midRightTire_j" type="continuous">
  545. <origin rpy="0 0 -1.57079632679" xyz="0 0.5 0.005000"/>
  546. <child link="midRightTire" />
  547. <parent link="rmid"/>
  548. <axis rpy="0 0 0" xyz="1 0 0 "/>
  549. <limit effort="1000" velocity="100" />
  550. <joint_properties damping="1" friction="1" />
  551. </joint>
  552.  
  553.  
  554. <transmission name="midle">
  555. <type>transmission_interface/SimpleTransmission</type>
  556. <joint name="LefttoRight">
  557. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  558. </joint>
  559. <actuator name="midlemotor">
  560. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  561. <mechanicalReduction>1</mechanicalReduction>
  562. </actuator>
  563. </transmission>
  564. <transmission name="fore_tran">
  565. <type>transmission_interface/SimpleTransmission</type>
  566. <joint name="fore">
  567. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  568. </joint>
  569. <actuator name="fore_motor">
  570. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  571. <mechanicalReduction>1</mechanicalReduction>
  572. </actuator>
  573. </transmission>
  574. <transmission name="aft_tran">
  575. <type>transmission_interface/SimpleTransmission</type>
  576. <joint name="aft">
  577. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  578. </joint>
  579. <actuator name="aft_motor">
  580. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  581. <mechanicalReduction>1</mechanicalReduction>
  582. </actuator>
  583. </transmission>
  584. <transmission name="transmission_aftRightWheel">
  585. <type>transmission_interface/SimpleTransmission</type>
  586. <joint name="aftRightTire_j">
  587. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  588. </joint>
  589. <actuator name="motor_aftRightWheel">
  590. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  591. <mechanicalReduction>1</mechanicalReduction>
  592. </actuator>
  593. </transmission>
  594. <transmission name="transmission_aftLeftWheel">
  595. <type>transmission_interface/SimpleTransmission</type>
  596. <joint name="aftLeftTire_j">
  597. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  598. </joint>
  599. <actuator name="motor_aftLeftWheel">
  600. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  601. <mechanicalReduction>1</mechanicalReduction>
  602. </actuator>
  603. </transmission>
  604. <transmission name="transmission_midLeftWheel">
  605. <type>transmission_interface/SimpleTransmission</type>
  606. <joint name="midLeftTire_j">
  607. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  608. </joint>
  609. <actuator name="motor_midLeftWheel">
  610. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  611. <mechanicalReduction>1</mechanicalReduction>
  612. </actuator>
  613. </transmission>
  614. <transmission name="transmission_midRightWheel">
  615. <type>transmission_interface/SimpleTransmission</type>
  616. <joint name="midRightTire_j">
  617. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  618. </joint>
  619. <actuator name="motor_midRightWheel">
  620. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  621. <mechanicalReduction>1</mechanicalReduction>
  622. </actuator>
  623. </transmission>
  624. <transmission name="transmission_foreRightWheel">
  625. <type>transmission_interface/SimpleTransmission</type>
  626. <joint name="foreRightTire_j">
  627. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  628. </joint>
  629. <actuator name="motor_foreRightWheel">
  630. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  631. <mechanicalReduction>1</mechanicalReduction>
  632. </actuator>
  633. </transmission>
  634. <transmission name="transmission_foreLeftWheel">
  635. <type>transmission_interface/SimpleTransmission</type>
  636. <joint name="foreLeftTire_j">
  637. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  638. </joint>
  639. <actuator name="motor_foreLeftWheel">
  640. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  641. <mechanicalReduction>1</mechanicalReduction>
  642. </actuator>
  643. </transmission>
  644.  
  645. <transmission name="transmission_rightToLeft">
  646. <type>transmission_interface/SimpleTransmission</type>
  647. <joint name="rightToLeft">
  648. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  649. </joint>
  650. <actuator name="motor_rightToLeft">
  651. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  652. <mechanicalReduction>1</mechanicalReduction>
  653. </actuator>
  654. </transmission>
  655. <gazebo>
  656. <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
  657. <robotNamespace>/moon</robotNamespace>
  658. </plugin>
  659. </gazebo>
  660. </robot>
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