Add custom xarm packages

2023-03-21 13:33:51 +02:00
parent 1763aee9ca
commit e42e0fea90
176 changed files with 13024 additions and 6 deletions
--- a/src/custom_xarm_description/urdf/xarm5/xarm5.gazebo.xacro
+++ b/src/custom_xarm_description/urdf/xarm5/xarm5.gazebo.xacro
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="xarm5_gazebo" params="prefix">
+
+    <gazebo reference="${prefix}link_base">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+
+    <gazebo reference="${prefix}link1">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+
+    <gazebo reference="${prefix}link2">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+
+    <gazebo reference="${prefix}link3">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+
+    <gazebo reference="${prefix}link4">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+
+    <gazebo reference="${prefix}link5">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    
+  </xacro:macro>
+
+</robot>