30 lines
1.3 KiB
Plaintext
30 lines
1.3 KiB
Plaintext
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<?xml version="1.0" encoding="utf-8"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ee_with_one_link">
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<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
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<xacro:macro name="ee_with_one_link" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0' tcp_rpy:='0 0 0' description_pkg:=openarm_description with_sc:=false">
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<xacro:property name="ee_prefix" default="robot_"/>
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<xacro:unless value="${arm_type == ''}">
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<xacro:property name="ee_prefix" value="openarm_${arm_prefix}" />
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</xacro:unless>
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<xacro:unless value="${connected_to == ''}">
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<joint name="${ee_prefix}${ee_type}_joint" type="fixed">
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<parent link="${connected_to}" />
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<child link="${ee_prefix}${ee_type}" />
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<origin xyz="${xyz_ee}" rpy="${rpy_ee}" />
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</joint>
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</xacro:unless>
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<xacro:ee_link_with_sc name="${ee_type}"/>
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<!-- Define the ${ee_type}_tcp frame -->
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<link name="${ee_prefix}${ee_type}_tcp" />
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<joint name="${ee_prefix}${ee_type}_tcp_joint" type="fixed">
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<origin xyz="${tcp_xyz}" rpy="${tcp_rpy}" />
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<parent link="${ee_prefix}${ee_type}" />
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<child link="${ee_prefix}${ee_type}_tcp" />
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</joint>
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</xacro:macro>
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</robot>
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