openarm_ros2/openarm_description/urdf/openarm.ros2_control.xacro

<?xml version="1.0"?>
<!--
　Copyright 2025 Reazon Holdings, Inc.

　Licensed under the Apache License, Version 2.0 (the "License");
　you may not use this file except in compliance with the License.
　You may obtain a copy of the License at

　    http://www.apache.org/licenses/LICENSE-2.0

　Unless required by applicable law or agreed to in writing, software
　distributed under the License is distributed on an "AS IS" BASIS,
　WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
　See the License for the specific language governing permissions and
　limitations under the License.
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:macro name="openarm_ros2_control" params="name initial_positions_file websocket_port='' prefix:='' can_device='can0' hardware_type='real' mock_sensor_commands='{}'">
        <xacro:property name="initial_positions" value="${xacro.load_yaml(initial_positions_file)['initial_positions']}"/>

        <!-- Set default websocket ports based on prefix if not provided -->
        <xacro:if value="${hardware_type == 'sim' and websocket_port == ''}">
            <xacro:property name="computed_websocket_port" value="${'1337' if prefix == 'right_' or prefix == '' else '1338'}"/>
        </xacro:if>
        <xacro:unless value="${hardware_type == 'sim' and websocket_port == ''}">
            <xacro:property name="computed_websocket_port" value="${websocket_port}"/>
        </xacro:unless>

        <ros2_control name="${prefix}${name}" type="system">
            <hardware>
                <xacro:if value="${hardware_type == 'mock'}">
                    <plugin>mock_components/GenericSystem</plugin>
                    <param name="mock_sensor_commands">${mock_sensor_commands}</param>
                </xacro:if>
                <xacro:if value="${hardware_type == 'sim'}">
                    <plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
                    <param name="prefix">${prefix}</param>
                    <xacro:if value="${computed_websocket_port != ''}">
                        <param name="websocket_port">${computed_websocket_port}</param>
                    </xacro:if>
                </xacro:if>
                <xacro:if value="${hardware_type == 'real'}">
                    <plugin>openarm_hardware/OpenArmHW</plugin>
                    <param name="prefix">${prefix}</param>
                    <param name="can_device">${can_device}</param>
                </xacro:if>
            </hardware>
            <joint name="${prefix}rev1">
                <command_interface name="position"/>
                <command_interface name="velocity"/>
                <!-- <command_interface name="effort"/> -->
                <state_interface name="position"/>
                <state_interface name="velocity"/>
                <!-- <state_interface name="effort"/> -->
            </joint>
            <joint name="${prefix}rev2">
                <command_interface name="position"/>
                <command_interface name="velocity"/>
                <!-- <command_interface name="effort"/> -->
                <state_interface name="position"/>
                <state_interface name="velocity"/>
                <!-- <state_interface name="effort"/> -->
            </joint>
            <joint name="${prefix}rev3">
                <command_interface name="position"/>
                <command_interface name="velocity"/>
                <!-- <command_interface name="effort"/> -->
                <state_interface name="position"/>
                <state_interface name="velocity"/>
                <!-- <state_interface name="effort"/> -->
            </joint>
            <joint name="${prefix}rev4">
                <command_interface name="position"/>
                <command_interface name="velocity"/>
                <!-- <command_interface name="effort"/> -->
                <state_interface name="position"/>
                <state_interface name="velocity"/>
                <!-- <state_interface name="effort"/> -->
            </joint>
            <joint name="${prefix}rev5">
                <command_interface name="position"/>
                <command_interface name="velocity"/>
                <!-- <command_interface name="effort"/> -->
                <state_interface name="position"/>
                <state_interface name="velocity"/>
                <!-- <state_interface name="effort"/> -->
            </joint>
            <joint name="${prefix}rev6">
                <command_interface name="position"/>
                <command_interface name="velocity"/>
                <!-- <command_interface name="effort"/> -->
                <state_interface name="position"/>
                <state_interface name="velocity"/>
                <!-- <state_interface name="effort"/> -->
            </joint>
            <joint name="${prefix}rev7">
                <command_interface name="position"/>
                <command_interface name="velocity"/>
                <!-- <command_interface name="effort"/> -->
                <state_interface name="position"/>
                <state_interface name="velocity"/>
                <!-- <state_interface name="effort"/> -->
            </joint>
            <joint name="${prefix}gripper">
                <command_interface name="position"/>
                <state_interface name="position"/>
                <state_interface name="velocity"/>
            </joint>

            <!-- <joint name="${prefix}gripper_mimic">
                <state_interface name="position">
                  <param name="initial_value">${initial_positions['gripper_mimic']}</param>
                </state_interface>
            </joint> -->

        </ros2_control>
    </xacro:macro>
</robot>