18 lines
523 B
XML
Executable File
18 lines
523 B
XML
Executable File
<?xml version="1.0"?>
|
|
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
|
|
|
<xacro:macro name="gazebo_ros_control_plugin" params="prefix:='' ros2_control_params:=''">
|
|
|
|
<gazebo>
|
|
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
|
|
<robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
|
|
<xacro:if value="${ros2_control_params != ''}">
|
|
<parameters>${ros2_control_params}</parameters>
|
|
</xacro:if>
|
|
</plugin>
|
|
</gazebo>
|
|
|
|
</xacro:macro>
|
|
|
|
</robot>
|