robile_active_wheel_brick.urdf.xacro

<?xml version="1.0"?>

<!--
Copyright (c) 2021
KELO Robotics GmbH

Author:
Sushant Chavan


This software is published under a dual-license: GNU Lesser General Public
License LGPL 2.1 and BSD license. The dual-license implies that users of this
code may choose which terms they prefer.

Redistribution and use in source and binary forms, with or without
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* Neither the name of Locomotec nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License LGPL as
published by the Free Software Foundation, either version 2.1 of the
License, or (at your option) any later version or the BSD license.

This program is distributed in the hope that it will be useful,
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-->

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

    <xacro:macro name="robile_active_wheel_brick" params="name parent *origin movable_joints:=true">

        <!-- Include xacro files-->
        <xacro:include filename="$(find robile_description)/urdf/base_macros/brick_housing.urdf.xacro" />
        <xacro:include filename="$(find robile_description)/urdf/base_macros/kelo_drive.urdf.xacro" />

        <joint name="${name}_joint" type="fixed">
            <xacro:insert_block name="origin" />
            <parent link="${parent}"/>
            <child link="${name}_link" />
        </joint>

        <xacro:brick_housing name="${name}" with_wheel="true" color="red"/>

        <xacro:kelo_drive name="${name}_drive" parent="${name}_link" movable_joints="${movable_joints}">
            <origin xyz="0 0 0" rpy="0 0 0.0"/>
        </xacro:kelo_drive>

    </xacro:macro>

</robot>