ac50a7fd2c
Fix https://github.com/enactic/openarm_ros2/issues/75 There is no mention of `fake_components` in the official documentation since Humble. We should currently use `mock_components`. I have confirmed that it works in Humble and Jazzy. Reported by @ncnynl. Thanks!!!
100 lines
4.5 KiB
XML
100 lines
4.5 KiB
XML
<?xml version="1.0"?>
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
|
|
|
<xacro:macro name="openarm_bimanual_ros2_control"
|
|
params="arm_type
|
|
left_can_interface:=^|can1
|
|
right_can_interface:=^|can0
|
|
use_fake_hardware:=^|false
|
|
fake_sensor_commands:=^|false
|
|
hand:=^|false
|
|
left_arm_prefix:=^|left_
|
|
right_arm_prefix:=^|right_
|
|
can_fd:=^|true">
|
|
|
|
<!-- Left Arm Hardware Interface -->
|
|
<ros2_control name="openarm_left_hardware_interface" type="system">
|
|
<hardware>
|
|
<param name="arm_type">${arm_type}</param>
|
|
<xacro:if value="${use_fake_hardware}">
|
|
<plugin>mock_components/GenericSystem</plugin>
|
|
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
|
|
<param name="state_following_offset">0.0</param>
|
|
</xacro:if>
|
|
<xacro:unless value="${use_fake_hardware}">
|
|
<plugin>openarm_hardware/OpenArm_v10HW</plugin>
|
|
<param name="can_interface">${left_can_interface}</param>
|
|
<param name="arm_prefix">${left_arm_prefix}</param>
|
|
<param name="hand">${hand}</param>
|
|
<param name="can_fd">${can_fd}</param>
|
|
</xacro:unless>
|
|
</hardware>
|
|
|
|
<xacro:macro name="configure_joint" params="joint_name initial_position">
|
|
<joint name="${joint_name}">
|
|
<command_interface name="position"/>
|
|
<command_interface name="velocity"/>
|
|
<command_interface name="effort"/>
|
|
|
|
<state_interface name="position">
|
|
<param name="initial_value">${initial_position}</param>
|
|
</state_interface>
|
|
|
|
<state_interface name="velocity">
|
|
<param name="initial_value">0.0</param>
|
|
</state_interface>
|
|
|
|
<state_interface name="effort">
|
|
<param name="initial_value">0.0</param>
|
|
</state_interface>
|
|
</joint>
|
|
</xacro:macro>
|
|
|
|
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint1" initial_position="0.0"/>
|
|
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint2" initial_position="0.0"/>
|
|
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint3" initial_position="0.0"/>
|
|
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint4" initial_position="0.0"/>
|
|
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint5" initial_position="0.0"/>
|
|
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint6" initial_position="0.0"/>
|
|
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint7" initial_position="0.0"/>
|
|
|
|
<xacro:if value="${hand}">
|
|
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}finger_joint1" initial_position="0.0" />
|
|
</xacro:if>
|
|
</ros2_control>
|
|
|
|
<!-- Right Arm Hardware Interface -->
|
|
<ros2_control name="openarm_right_hardware_interface" type="system">
|
|
<hardware>
|
|
<param name="arm_type">${arm_type}</param>
|
|
<xacro:if value="${use_fake_hardware}">
|
|
<plugin>mock_components/GenericSystem</plugin>
|
|
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
|
|
<param name="state_following_offset">0.0</param>
|
|
</xacro:if>
|
|
<xacro:unless value="${use_fake_hardware}">
|
|
<plugin>openarm_hardware/OpenArm_v10HW</plugin>
|
|
<param name="can_interface">${right_can_interface}</param>
|
|
<param name="arm_prefix">${right_arm_prefix}</param>
|
|
<param name="hand">${hand}</param>
|
|
<param name="can_fd">${can_fd}</param>
|
|
</xacro:unless>
|
|
</hardware>
|
|
|
|
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint1" initial_position="0.0"/>
|
|
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint2" initial_position="0.0"/>
|
|
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint3" initial_position="0.0"/>
|
|
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint4" initial_position="0.0"/>
|
|
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint5" initial_position="0.0"/>
|
|
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint6" initial_position="0.0"/>
|
|
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint7" initial_position="0.0"/>
|
|
|
|
<xacro:if value="${hand}">
|
|
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}finger_joint1" initial_position="0.0" />
|
|
</xacro:if>
|
|
</ros2_control>
|
|
|
|
</xacro:macro>
|
|
|
|
</robot>
|