38 lines
1.2 KiB
XML
38 lines
1.2 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_body">
|
|
|
|
|
|
<xacro:include filename="$(find openarm_description)/urdf/body/openarm_body_macro.xacro" />
|
|
|
|
<xacro:macro name="openarm_body"
|
|
params="body_type
|
|
body_prefix:=''
|
|
no_prefix:=false
|
|
description_pkg:='openarm_description'
|
|
connected_to:='world'
|
|
xyz:='0 0 0'
|
|
rpy:='0 0 0'
|
|
inertials
|
|
kinematics
|
|
kinematics_link">
|
|
|
|
<!-- <xacro:property name="prefix" value="${'' if no_prefix else body_prefix + 'body_'}" /> -->
|
|
<xacro:property name="prefix" value="${'' if no_prefix else 'openarm_' + 'body_'}" />
|
|
|
|
<xacro:unless value="${not connected_to}">
|
|
<link name="${connected_to}" />
|
|
<joint name="${prefix}${connected_to}_joint" type="fixed">
|
|
<parent link="${connected_to}" />
|
|
<child link="${prefix}link0" />
|
|
<origin xyz="${xyz}" rpy="${rpy}" />
|
|
</joint>
|
|
</xacro:unless>
|
|
|
|
<xacro:body_link_with_sc
|
|
name="body_link0"
|
|
no_prefix="${no_prefix}"
|
|
kinematics_link="${kinematics_link}" />
|
|
</xacro:macro>
|
|
|
|
</robot>
|