<xacro:include filename="其他xacro文件" /> 示例: <robot name="car" xmlns:xacro="http://wiki.ros.org/xacro"> <xacro:include filename="car_base.xacro" /> <xacro:include filename="car_camera.xacro" /> <xacro:include filename="car_laser.xacro" /> </robot> 四、xacro_练习 1.需求 ...
// xacro:include是文件包含,camera.xacro里面定义了一个宏函数<xacro:include filename="$(find mbot_description)/urdf/sensor/camera.xacro"/>// 调用camera.xacro里面的宏函数<xacro:usb_camera joint_x="${camera_joint_x}"joint_y="${came...
<xacro:include filename="$(find mbot_description)/urdf/sensor/camera.xacro" /> <xacro:usb_camera joint_x="${camera_joint_x}" joint_y="${camera_joint_y}" joint_z="${camera_joint_z}"/> <xacro:include filename="$(find mbot_description)/urdf/sensor/kinect.xacro" /> <xacro:kinect ...
<robot name="xxx" xmlns:xacro="http://wiki.ros.org/xacro"> <xacro:include filename="my_base.xacro" /> <xacro:include filename="my_camera.xacro" /> <xacro:include filename="my_laser.xacro" /> ... </robot> 1. 2. 3. 4. 5. 6. 例子:包含上述两个例子的xacro <robot name="my...
<arg name="headless" default="false"/> <arg name="debug" default="false"/> <!-- 运行gazebo仿真环境 --> <include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" value="$(arg world_name)" />
<robot name="mycar" xmlns:xacro="http://wiki.ros.org/xacro" > <!--1.演示文档包含--> <xacro:include filename="demo02_field.urdf.xacro" /> <xacro:include filename="demo03_macro.urdf.xacro" /> </robot> 运行输出: cys@ubuntu:~/demo05_ws/src/urdf01_rviz/urdf/xacro$ rosrun xacr...
<?xml version="1.0"?> <robot name="fishbot" xmlns:xacro="http://ros.org/wiki/xacro"> <xacro:include filename="xacro_template.xacro" /> <xacro:box_visual w="0.809" d="0.5" h="0.1" origin_r="0" origin_p="0" origin_y="0"/> <xacro:box_collision w="0.809" d="0.5" h=...
// xacro:include是文件包含,camera.xacro里面定义了一个宏函数 <xacro:include filename="$(find mbot_description)/urdf/sensor/camera.xacro" /> // 调用camera.xacro里面的宏函数 <xacro:usb_camera joint_x="${camera_joint_x}" joint_y="${camera_joint_y}" joint_z="${camera_joint_z}"/> 这...
<?xml version="1.0"?><robotxmlns:xacro="http://www.ros.org/wiki/xacro"name="ur5"><!--common stuff--><xacro:includefilename="$(find ur_description)/urdf/ur5/common.gazebo.xacro"/><!--ur5--><xacro:include
编辑car.urdf.xacro文件,输入如下内容:<robot name="car" xmlns:xacro="http://wiki.ros.org/xacro"> <xacro:include filename="car_base.urdf.xacro"/> <xacro:include filename="car_camera.urdf.xacro"/> <xacro:include filename="car_laser.urdf.xacro"/> </robot> ...