28 lines
902 B
XML
28 lines
902 B
XML
<?xml version="1.0"?>
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<!-- b1_description: Unitree B1 quadruped robot -->
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<robot name="b1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- define arguments -->
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<xacro:arg name="DEBUG" default="false"/> <!-- debug mode switch -->
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<!-- include xacro files -->
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<xacro:include filename="$(find b1_description)/xacro/b1.xacro"/>
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<xacro:include filename="$(find b1_description)/xacro/gazebo.xacro"/>
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<!-- B1 macro: expands to describe B1 quadruped robot -->
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<xacro:b1/>
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<!-- debug mode configuration -->
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<xacro:if value="$(arg DEBUG)">
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<!-- statically affix B1 base to world; i.e. "hang up" the robot -->
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<link name="world"/>
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<joint name="base_static_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="world"/>
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<child link="base"/>
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</joint>
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</xacro:if>
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</robot>
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