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Commit 61c5178e authored by Shaun Edwards's avatar Shaun Edwards
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Merge pull request #63 from ipa-fxm/issue/urdfs

updated urdf files
parents 5a34cce2 d7cf6383
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......@@ -6,22 +6,24 @@
<robot name="ur10" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- common stuff -->
<gazebo>
<plugin filename="libgazebo_ros_controller_manager.so" name="gazebo_ros_controller_manager">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
<plugin filename="libgazebo_ros_control.so" name="ros_control">
<!--robotNamespace>/</robotNamespace-->
<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
</plugin>
<plugin filename="libgazebo_ros_power_monitor.so" name="gazebo_ros_power_monitor_controller">
<!--
<plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity>
<fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
<chargeVoltage>16.41</chargeVoltage>
</plugin>
-->
</gazebo>
<!-- ur10 -->
<material name="UR/Blue">
......
......@@ -6,22 +6,24 @@
<robot name="ur10" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- common stuff -->
<gazebo>
<plugin filename="libgazebo_ros_controller_manager.so" name="gazebo_ros_controller_manager">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
<plugin filename="libgazebo_ros_control.so" name="ros_control">
<!--robotNamespace>/</robotNamespace-->
<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
</plugin>
<plugin filename="libgazebo_ros_power_monitor.so" name="gazebo_ros_power_monitor_controller">
<!--
<plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity>
<fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
<chargeVoltage>16.41</chargeVoltage>
</plugin>
-->
</gazebo>
<!-- ur10 -->
<material name="UR/Blue">
......
......@@ -6,22 +6,24 @@
<robot name="ur5" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- common stuff -->
<gazebo>
<plugin filename="libgazebo_ros_controller_manager.so" name="gazebo_ros_controller_manager">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
<plugin filename="libgazebo_ros_control.so" name="ros_control">
<!--robotNamespace>/</robotNamespace-->
<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
</plugin>
<plugin filename="libgazebo_ros_power_monitor.so" name="gazebo_ros_power_monitor_controller">
<!--
<plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity>
<fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
<chargeVoltage>16.41</chargeVoltage>
</plugin>
-->
</gazebo>
<!-- ur5 -->
<material name="UR/Blue">
......
......@@ -6,22 +6,24 @@
<robot name="ur5" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- common stuff -->
<gazebo>
<plugin filename="libgazebo_ros_controller_manager.so" name="gazebo_ros_controller_manager">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
<plugin filename="libgazebo_ros_control.so" name="ros_control">
<!--robotNamespace>/</robotNamespace-->
<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
</plugin>
<plugin filename="libgazebo_ros_power_monitor.so" name="gazebo_ros_power_monitor_controller">
<!--
<plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity>
<fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
<chargeVoltage>16.41</chargeVoltage>
</plugin>
-->
</gazebo>
<!-- ur5 -->
<material name="UR/Blue">
......
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