< = >link name "${prefix}_caster_link"
< >visual
< = = />origin xyz "0 0 0" rpy "0 0 0"
< >geometry
< = />sphere radius "${caster_radius}"
</ >geometry
< = />material name "black"
</ >visual
<!-- -->
< >collision
< = = />origin xyz "0 0 0" rpy "0 0 0"
< >geometry
< = />sphere radius "${caster_radius}"
</ >geometry
</ >collision
<!-- -->
< = = />sphere_inertial_matrix m "${caster_mass}" r "${caster_radius}"
</ >link
2、添加gazebo标签
为各link配颜色
< = >gazebo reference "${prefix}_caster_link"
Gazebo/Black< >material </ >material
</ >gazebo
</ >xacro:macro
3、由于不用驱动支撑轮
所以 不用 为joint添加传动装置
为base_link添加内容
给 base_footprint 添加标签
< = >xacro:macro name "mbot_base_gazebo"
< = >link name "base_footprint"
< >visual
< = = />origin xyz "0 0 0" rpy "0 0 0"
< >geometry
< = />box size "0.001 0.001 0.001"
</ >geometry
</ >visual
</ >link
<!-- base_footprint -->
< = >gazebo reference "base_footprint"
false< >turnGravityOff </ >turnGravityOff
</ >gazebo
< = = >joint name "base_footprint_joint" type "fixed"
< = = />origin xyz "0 0 ${base_length/2 + caster_radius*2}" rpy "0 0 0"
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