git_ws/gazebo_robot/urdf/gazebo.urdf.xacro

<?xml version="1.0"?>
 
<robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" 
	xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" 
	xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" 
	xmlns:xacro="http://ros.org/wiki/xacro" 
	name="mecanum_robot_gazebo">
 
<!-- ASUS Xtion PRO camera for simulation -->
<!-- gazebo_ros_wge100 plugin is in kt2_gazebo_plugins package -->
<xacro:macro name="mecanum_robot_sim">
    <gazebo reference="base_link">
        <material>Gazebo/Blue</material>
        <turnGravityOff>false</turnGravityOff>
    </gazebo>
 
    <gazebo reference="right_front_wheel">
        <material>Gazebo/FlatBlack</material>
	</gazebo>
 
	<gazebo reference="right_back_wheel">
        <material>Gazebo/FlatBlack</material>
    </gazebo>
 
    <gazebo reference="left_front_wheel">
        <material>Gazebo/FlatBlack</material>
    </gazebo>
 
    <gazebo reference="left_back_wheel">
        <material>Gazebo/FlatBlack</material>
    </gazebo>
 
    <gazebo reference="head">
        <material>Gazebo/White</material>
    </gazebo>
 
</xacro:macro>
 
</robot>