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Args for thruster spin axis #8

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Args for thruster spin axis #8

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12 changes: 10 additions & 2 deletions uuv_gazebo_plugins/uuv_gazebo_ros_plugins/urdf/thruster_snippets.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -76,17 +76,19 @@
</xacro:macro>

<!-- THRUSTER MODULE MACROS -->

<xacro:macro name="generic_thruster_macro"
params="namespace
thruster_id
x_axis:=1
y_axis:=0
z_axis:=0
*origin
mesh_filename
*dynamics
*conversion">
<joint name="${namespace}/thruster_${thruster_id}_joint" type="continuous">
<xacro:insert_block name="origin"/>
<axis xyz="1 0 0"/>
<axis xyz="${x_axis} ${y_axis} ${z_axis}"/>
<parent link="${namespace}/base_link"/>
<child link="${namespace}/thruster_${thruster_id}"/>
</joint>
Expand Down Expand Up @@ -135,11 +137,17 @@
<xacro:macro name="thruster_module_first_order_basic_fcn_macro"
params="namespace
thruster_id
x_axis:=1
y_axis:=0
z_axis:=0
*origin
mesh_filename
dyn_time_constant
rotor_constant">
<xacro:generic_thruster_macro
x_axis="${x_axis}"
y_axis="${y_axis}"
z_axis="${z_axis}"
namespace="${namespace}"
thruster_id="${thruster_id}"
mesh_filename="${mesh_filename}">
Expand Down