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roni-kreininroni-kreinin
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Replaced ignition references with gz. Fixes omni driving for R100 and DO1X0
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-13
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11 files changed

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‎clearpath_platform_description/urdf/dd100/drivetrain/wheels.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="dd100_drivetrain_wheels">
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="dd100_drivetrain_wheels">
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<xacro:macro name="dd100_drivetrain_wheels" params="front_wheels rear_wheels">
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<xacro:include filename="$(find clearpath_platform_description)/urdf/dd100/drivetrain/wheels/indoor.urdf.xacro"/>

‎clearpath_platform_description/urdf/dd100/drivetrain/wheels/caster.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="dd100_caster_wheel">
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="dd100_caster_wheel">
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<xacro:property name="dd100_caster_wheel_radius" value="0.01" />
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<xacro:property name="dd100_caster_wheel_mass" value="0.1" />

‎clearpath_platform_description/urdf/do100/drivetrain/wheels.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="do100_drivetrain_wheels">
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="do100_drivetrain_wheels">
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<xacro:macro name="do100_drivetrain_wheels" params="front_wheels rear_wheels">
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<xacro:include filename="$(find clearpath_platform_description)/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro"/>

‎clearpath_platform_description/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="do100_mecanum_wheel">
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="do100_mecanum_wheel">
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<xacro:property name="do100_mecanum_wheel_radius" value="0.050" />
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<xacro:property name="do100_mecanum_wheel_mass" value="0.4" />
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<ode>
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<mu>1.0</mu>
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<mu2>0.0</mu2>
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<fdir1 ignition:expressed_in="base_link">1 ${side} 0</fdir1>
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<fdir1 gz:expressed_in="base_link">1 ${side} 0</fdir1>
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</ode>
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</friction>
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</surface>

‎clearpath_platform_description/urdf/generic/drivetrain/control/diff_4wd.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_4wd">
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_4wd">
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<xacro:macro name="generic_drivetrain_control_diff_4wd" params="name hardware_plugin">
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‎clearpath_platform_description/urdf/generic/drivetrain/control/diff_fwd.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_fwd">
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_fwd">
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<xacro:macro name="generic_drivetrain_control_diff_fwd" params="name hardware_plugin">
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‎clearpath_platform_description/urdf/generic/drivetrain/control/diff_rwd.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_rwd">
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_rwd">
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<xacro:macro name="generic_drivetrain_control_diff_rwd" params="name hardware_plugin">
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‎clearpath_platform_description/urdf/generic/drivetrain/control/omni_4wd.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain_control_omni_4wd">
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain_control_omni_4wd">
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<xacro:macro name="generic_drivetrain_control_omni_4wd" params="name hardware_plugin">
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‎clearpath_platform_description/urdf/generic/drivetrain/drivetrain.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain">
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain">
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<xacro:macro name="generic_drivetrain" params="name control front_wheels rear_wheels hardware_plugin">
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<!-- Omni drivetrain -->

‎clearpath_platform_description/urdf/r100/drivetrain/wheels.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="r100_drivetrain_wheels">
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<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="r100_drivetrain_wheels">
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<!-- Includes -->
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<xacro:include filename="$(find clearpath_platform_description)/urdf/r100/rocker.urdf.xacro"/>

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