38 lines
1.2 KiB
Plaintext
38 lines
1.2 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="openarm_body">
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<xacro:include filename="$(find openarm_description)/urdf/body/openarm_body_macro.xacro" />
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<xacro:macro name="openarm_body"
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params="body_type
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body_prefix:=''
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no_prefix:=false
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description_pkg:='openarm_description'
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connected_to:='world'
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xyz:='0 0 0'
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rpy:='0 0 0'
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inertials
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kinematics
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kinematics_link">
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<!-- <xacro:property name="prefix" value="${'' if no_prefix else body_prefix + 'body_'}" /> -->
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<xacro:property name="prefix" value="${'' if no_prefix else 'openarm_' + 'body_'}" />
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<xacro:unless value="${not connected_to}">
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<link name="${connected_to}" />
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<joint name="${prefix}${connected_to}_joint" type="fixed">
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<parent link="${connected_to}" />
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<child link="${prefix}link0" />
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<origin xyz="${xyz}" rpy="${rpy}" />
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</joint>
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</xacro:unless>
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<xacro:body_link_with_sc
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name="body_link0"
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no_prefix="${no_prefix}"
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kinematics_link="${kinematics_link}" />
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</xacro:macro>
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</robot>
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