Selaa lähdekoodia

Fix unattended change introduced by #74. (#109)

Signed-off-by: Michał Pełka <[email protected]>
Michał Pełka 2 vuotta sitten
vanhempi
commit
8bfcf54716
2 muutettua tiedostoa jossa 27 lisäystä ja 402 poistoa
  1. 0 201
      Gems/RosRobotSample/Assets/robot/rosbot_xl_description/rosbot_xl.urdf
  2. 27 201
      LICENSE.txt

+ 0 - 201
Gems/RosRobotSample/Assets/robot/rosbot_xl_description/rosbot_xl.urdf

@@ -1,201 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michal/ros2_ws/src/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="rosbot_xl">
-  <link name="base_link"/>
-  <joint name="base_to_body_joint" type="fixed">
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.048"/>
-    <parent link="base_link"/>
-    <child link="body_link"/>
-  </joint>
-  <link name="body_link">
-    <visual>
-      <geometry>
-        <mesh filename="meshes/body.fbx" scale="1 1 1"/>
-      </geometry>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="meshes/body_colision.stl" scale="1 1 1"/>
-      </geometry>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
-    </collision>
-    <inertial>
-      <mass value="3.5"/>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0358"/>
-      <inertia ixx="0.01393" ixy="-0.000020968097" ixz="0.000010399694" iyy="0.01081" iyz="0.000059372953" izz="0.02048"/>
-    </inertial>
-  </link>
-  <joint name="body_to_cover_joint" type="fixed">
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.08345"/>
-    <parent link="body_link"/>
-    <child link="cover_link"/>
-  </joint>
-  <link name="cover_link"/>
-  <joint name="body_to_imu_joint" type="fixed">
-    <origin rpy="3.14159 0.0 0.0" xyz="-0.1369 -0.0419 0.0370"/>
-    <parent link="body_link"/>
-    <child link="imu_link"/>
-  </joint>
-  <link name="imu_link"/>
-  <joint name="fl_wheel_joint" type="continuous">
-    <parent link="body_link"/>
-    <child link="fl_wheel_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.085 0.124 0.0"/>
-    <axis xyz="0.0 1.0 0.0"/>
-    <limit effort="1.27" velocity="21.0"/>
-    <dynamics damping="0.001" friction="0.001"/>
-  </joint>
-  <link name="fl_wheel_link">
-    <visual>
-      <geometry>
-        <mesh filename="meshes/wheel_b.dae" scale="1 1 1"/>
-      </geometry>
-      <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
-    </visual>
-    <collision>
-      <geometry>
-        <cylinder length="0.036" radius="0.048"/>
-      </geometry>
-      <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
-    </collision>
-    <inertial>
-      <mass value="0.051"/>
-      <inertia ixx="5.0587413e-05" ixy="0.0" ixz="0.0" iyy="8.5933192e-05" iyz="0.0" izz="5.0587829e-05"/>
-    </inertial>
-  </link>
-  <joint name="fr_wheel_joint" type="continuous">
-    <parent link="body_link"/>
-    <child link="fr_wheel_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.085 -0.124 0.0"/>
-    <axis xyz="0.0 1.0 0.0"/>
-    <limit effort="1.27" velocity="21.0"/>
-    <dynamics damping="0.001" friction="0.001"/>
-  </joint>
-  <link name="fr_wheel_link">
-    <visual>
-      <geometry>
-        <mesh filename="meshes/wheel_a.dae" scale="1 1 1"/>
-      </geometry>
-      <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
-    </visual>
-    <collision>
-      <geometry>
-        <cylinder length="0.036" radius="0.048"/>
-      </geometry>
-      <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
-    </collision>
-    <inertial>
-      <mass value="0.051"/>
-      <inertia ixx="5.0587413e-05" ixy="0.0" ixz="0.0" iyy="8.5933192e-05" iyz="0.0" izz="5.0587829e-05"/>
-    </inertial>
-  </link>
-  <joint name="rl_wheel_joint" type="continuous">
-    <parent link="body_link"/>
-    <child link="rl_wheel_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="-0.085 0.124 0.0"/>
-    <axis xyz="0.0 1.0 0.0"/>
-    <limit effort="1.27" velocity="21.0"/>
-    <dynamics damping="0.001" friction="0.001"/>
-  </joint>
-  <link name="rl_wheel_link">
-    <visual>
-      <geometry>
-        <mesh filename="meshes/wheel_a.dae" scale="1 1 1"/>
-      </geometry>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
-    </visual>
-    <collision>
-      <geometry>
-        <cylinder length="0.036" radius="0.048"/>
-      </geometry>
-      <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
-    </collision>
-    <inertial>
-      <mass value="0.051"/>
-      <inertia ixx="5.0587413e-05" ixy="0.0" ixz="0.0" iyy="8.5933192e-05" iyz="0.0" izz="5.0587829e-05"/>
-    </inertial>
-  </link>
-  <joint name="rr_wheel_joint" type="continuous">
-    <parent link="body_link"/>
-    <child link="rr_wheel_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="-0.085 -0.124 0.0"/>
-    <axis xyz="0.0 1.0 0.0"/>
-    <limit effort="1.27" velocity="21.0"/>
-    <dynamics damping="0.001" friction="0.001"/>
-  </joint>
-  <link name="rr_wheel_link">
-    <visual>
-      <geometry>
-        <mesh filename="meshes/wheel_b.dae" scale="1 1 1"/>
-      </geometry>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
-    </visual>
-    <collision>
-      <geometry>
-        <cylinder length="0.036" radius="0.048"/>
-      </geometry>
-      <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
-    </collision>
-    <inertial>
-      <mass value="0.051"/>
-      <inertia ixx="5.0587413e-05" ixy="0.0" ixz="0.0" iyy="8.5933192e-05" iyz="0.0" izz="5.0587829e-05"/>
-    </inertial>
-  </link>
-  <ros2_control name="imu" type="sensor">
-    <hardware>
-      <plugin>rosbot_hardware_interfaces/RosbotImuSensor</plugin>
-      <param name="connection_timeout_ms">120000</param>
-      <param name="connection_check_period_ms">500</param>
-    </hardware>
-    <sensor name="imu">
-      <state_interface name="orientation.x"/>
-      <state_interface name="orientation.y"/>
-      <state_interface name="orientation.z"/>
-      <state_interface name="orientation.w"/>
-      <state_interface name="angular_velocity.x"/>
-      <state_interface name="angular_velocity.y"/>
-      <state_interface name="angular_velocity.z"/>
-      <state_interface name="linear_acceleration.x"/>
-      <state_interface name="linear_acceleration.y"/>
-      <state_interface name="linear_acceleration.z"/>
-    </sensor>
-  </ros2_control>
-  <ros2_control name="wheels" type="system">
-    <hardware>
-      <plugin>rosbot_hardware_interfaces/RosbotSystem</plugin>
-      <param name="connection_timeout_ms">120000</param>
-      <param name="connection_check_period_ms">500</param>
-      <!-- order of velocity commands to be published in motors_cmd Float32MultiArray msg -->
-      <param name="velocity_command_joint_order">
-                rr_wheel_joint,
-                rl_wheel_joint,
-                fr_wheel_joint,
-                fl_wheel_joint
-          </param>
-    </hardware>
-    <joint name="fl_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="fr_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="rl_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="rr_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-  </ros2_control>
-</robot>

+ 27 - 201
LICENSE.txt

@@ -1,201 +1,27 @@
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