forked from xtdrone/XTDrone
15 lines
674 B
XML
15 lines
674 B
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<!-- Macro to create a WAM-V with dyanmics plugins and a customizeable thruster layout -->
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<xacro:macro name="wamv_gazebo" params="thruster_layout">
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<!-- Include macros for dynamics plugins -->
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<xacro:include filename="$(find wamv_gazebo)/urdf/macros.xacro" />
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<!-- Defines the base vehicle -->
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<xacro:include filename="$(find wamv_description)/urdf/wamv_base.urdf.xacro" />
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<!-- Thruster Layout -->
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<xacro:include filename="${thruster_layout}"/>
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<!-- Attach hydrodynamics plugin -->
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<xacro:usv_dynamics_gazebo name="wamv_dynamics_plugin"/>
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</xacro:macro>
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</robot>
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