195 lines
7.7 KiB
Plaintext
195 lines
7.7 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">
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<xacro:macro name="openarm_robot"
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params="arm_type
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joint_limits
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kinematics
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kinematics_link
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kinematics_offset
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inertials
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body_type
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body_inertials
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body_kinematics
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body_kinematics_link
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ee_kinematics_link
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parent:='world'
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xyz:='0 0 0'
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rpy:='0 0 0'
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hand:='false'
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ee_type:=''
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ros2_control:=false
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can_interface:=''
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use_fake_hardware:=false
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fake_sensor_commands:=false
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no_prefix:='false'
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arm_prefix:=''
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body_prefix:=''
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arm_connected_to='base'
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body_connected_to='world'
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bimanual:=false
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right_arm_base_xyz='0 0 0'
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left_arm_base_xyz='0 0 0'
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right_arm_base_rpy='0 0 0'
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left_arm_base_rpy='0 0 0'
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left_can_interface:='can1'
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right_can_interface:='can0'
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left_arm_prefix:='left_'
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right_arm_prefix:='right_'
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"
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>
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<xacro:include filename="$(find openarm_description)/urdf/arm/openarm_macro.xacro" />
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<xacro:include filename="$(find openarm_description)/urdf/arm/openarm_arm.xacro" />
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<xacro:include filename="$(find openarm_description)/urdf/body/openarm_body_macro.xacro" />
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<xacro:include filename="$(find openarm_description)/urdf/body/openarm_body.xacro" />
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<xacro:include filename="$(find openarm_description)/urdf/ee/openarm_hand.xacro" />
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<xacro:include filename="$(find openarm_description)/urdf/ee/openarm_hand_macro.xacro" />
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<xacro:include filename="$(find openarm_description)/urdf/ros2_control/openarm.ros2_control.xacro" />
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<xacro:include filename="$(find openarm_description)/urdf/ros2_control/openarm.bimanual.ros2_control.xacro" />
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<xacro:if value="${ee_type != 'none'}">
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<xacro:include filename="$(find openarm_description)/urdf/ee/${ee_type}_arguments.xacro" />
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</xacro:if>
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<xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
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<xacro:property name="body_prefix_modified" value="${'' if body_prefix == '' else body_prefix + '_'}" />
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<xacro:if value="${bimanual}">
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<xacro:openarm_body
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body_type="${body_type}"
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body_prefix="${body_prefix_modified}"
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no_prefix="${no_prefix}"
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description_pkg="openarm_description"
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connected_to="${body_connected_to}"
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xyz="${xyz}"
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rpy="${rpy}"
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inertials="${body_inertials}"
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kinematics="${body_kinematics}"
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kinematics_link="${body_kinematics_link}" />
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<!-- left arm -->
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<xacro:openarm_arm
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arm_type="${arm_type}"
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arm_prefix="left_"
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no_prefix="false"
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description_pkg="openarm_description"
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connected_to="openarm_body_link0"
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xyz="${left_arm_base_xyz}"
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rpy="${left_arm_base_rpy}"
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joint_limits="${joint_limits}"
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inertials="${inertials}"
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kinematics="${kinematics}"
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kinematics_link="${kinematics_link}"
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kinematics_offset="${kinematics_offset}" />
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<!-- right arm -->
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<xacro:openarm_arm
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arm_type="${arm_type}"
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arm_prefix="right_"
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no_prefix="false"
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description_pkg="openarm_description"
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connected_to="openarm_body_link0"
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xyz="${right_arm_base_xyz}"
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rpy="${right_arm_base_rpy}"
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joint_limits="${joint_limits}"
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inertials="${inertials}"
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kinematics="${kinematics}"
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kinematics_link="${kinematics_link}"
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kinematics_offset="${kinematics_offset}" />
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<!-- ros2_control hardware interfaces for bimanual setup -->
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<xacro:if value="${ros2_control}">
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<xacro:openarm_bimanual_ros2_control
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arm_type="${arm_type}"
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left_can_interface="${left_can_interface}"
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right_can_interface="${right_can_interface}"
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use_fake_hardware="${use_fake_hardware}"
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fake_sensor_commands="${fake_sensor_commands}"
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left_arm_prefix="${left_arm_prefix}"
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right_arm_prefix="${right_arm_prefix}"
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hand="${hand}"/>
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</xacro:if>
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<xacro:if value="$(eval hand and ee_type == 'openarm_hand')">
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<xacro:openarm_hand
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connected_to="openarm_left_link8"
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arm_type="${arm_type}"
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arm_prefix="left_"
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ee_type="${ee_type}"
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ee_kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/kinematics_link.yaml')}"
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ee_inertials="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/inertials.yaml')}"
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rpy_ee="$(arg rpy_ee)"
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xyz_ee="$(arg xyz_ee)"
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tcp_xyz="$(arg tcp_xyz)"
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tcp_rpy="$(arg tcp_rpy)"
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description_pkg="$(arg description_pkg)"
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/>
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<xacro:openarm_hand
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connected_to="openarm_right_link8"
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arm_type="${arm_type}"
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arm_prefix="right_"
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ee_type="${ee_type}"
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ee_kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/kinematics_link.yaml')}"
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ee_inertials="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/inertials.yaml')}"
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rpy_ee="$(arg rpy_ee)"
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xyz_ee="$(arg xyz_ee)"
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tcp_xyz="$(arg tcp_xyz)"
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tcp_rpy="$(arg tcp_rpy)"
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description_pkg="$(arg description_pkg)"
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/>
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</xacro:if>
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</xacro:if>
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<xacro:if value="${not bimanual}">
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<xacro:openarm_arm
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arm_type="${arm_type}"
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arm_prefix="${arm_prefix_modified}"
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no_prefix="${no_prefix}"
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xyz="${xyz}"
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rpy="${rpy}"
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joint_limits="${joint_limits}"
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kinematics="${kinematics}"
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kinematics_link="${kinematics_link}"
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inertials="${inertials}"
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connected_to=""
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/>
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<xacro:if value="${ros2_control}">
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<xacro:openarm_arm_ros2_control
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arm_type="${arm_type}"
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arm_prefix="${arm_prefix_modified}"
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can_interface="${can_interface}"
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use_fake_hardware="${use_fake_hardware}"
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fake_sensor_commands="${fake_sensor_commands}"
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hand="${hand}"
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bimanual="false"/>
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</xacro:if>
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<xacro:if value="${hand and ee_type == 'openarm_hand'}">
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<xacro:property name="special_connection" value="$(arg special_connection)" />
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<!-- <xacro:property name="connection" value="${special_connection if special_connection != '' else arm_type + '_link8'}" /> -->
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<xacro:property name="connection" value="${special_connection if special_connection != '' else 'openarm' + '_link8'}" />
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<xacro:if value="$(eval hand and ee_type == 'openarm_hand')">
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<xacro:openarm_hand
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connected_to="${arm_prefix_modified}${connection}"
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arm_type="${arm_type}"
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arm_prefix="${arm_prefix_modified}"
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ee_type="${ee_type}"
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ee_kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/kinematics_link.yaml')}"
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ee_inertials="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/inertials.yaml')}"
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rpy_ee="$(arg rpy_ee)"
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xyz_ee="$(arg xyz_ee)"
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tcp_xyz="$(arg tcp_xyz)"
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tcp_rpy="$(arg tcp_rpy)"
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description_pkg="$(arg description_pkg)"/>
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</xacro:if>
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</xacro:if>
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</xacro:if>
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</xacro:macro>
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</robot>
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