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- <?xml version="1.0"?>
- <sdf version="1.4">
- <world name="default">
- <!-- Ground Plane -->
- <include>
- <uri>model://ground_plane</uri>
- </include>
- <include>
- <uri>model://sun</uri>
- </include>
- <include>
- <uri>model://my_robot</uri>
- <plugin name="Diff" filename="build/libDiff.so">
- <right_joint>my_robot::right_wheel_hinge</right_joint>
- <left_joint>my_robot::left_wheel_hinge</left_joint>
- <torque>5</torque>
- </plugin>
- </include>
- </world>
- </sdf>
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