callen5914

/*
 * MikroSDK - MikroE Software Development Kit
 * Copyright© 2020 MikroElektronika d.o.o.
 * 
 * Permission is hereby granted, free of charge, to any person 
 * obtaining a copy of this software and associated documentation 
 * files (the "Software"), to deal in the Software without restriction, 
 * including without limitation the rights to use, copy, modify, merge, 
 * publish, distribute, sublicense, and/or sell copies of the Software, 
 * and to permit persons to whom the Software is furnished to do so, 

callen5914

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ursa_bot">

    <!-- Degree-to-radian conversions -->
    <xacro:property name="degrees_45" value="0.785398163"/>
    <xacro:property name="degrees_90" value="1.57079633"/>
    <xacro:property name="degrees_180" value="3.14159265"/>

    <!-- Inertia Generator -->
    <xacro:macro name="default_inertial" params="mass">

callen5914

<?xml version="1.0"?>
<robot name="basic_frame_pig">

    <!-- Base Link / Tube Chasis-->
    <link name="base_link">
        <inertial>
            <origin rpy="0 0 0" xyz="-0.005632841369081588 0.2917022138225285 -0.004107516953549188"/>
            <mass value="61.719091558990335"/>
            <inertia ixx="23.451972" ixy="-0.091403" ixz="-0.110297" iyy="6.432858" iyz="1.415813" izz="26.484945"/>
        </inertial>

callen5914

<launch>

    <!-- Load the Basic Frame Pig -->
    <arg name="model" default="$(find little_pig_atv)/urdf/basic_frame_pig.urdf" />

    <!-- Get the basic Rviz configs -->
    <arg name="rvizconfig" default="$(find little_pig_atv)/rviz/urdf.rviz" />

    <!-- Call in the ackerman controller -->
    <rosparam command="load" file="$(find little_pig_atv)/config/joint_ctrl.yaml" ns="/basic_frame_pig" />