openarm_ros2/openarm_description/urdf/openarm.urdf.xacro

<?xml version="1.0" encoding="utf-8"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
    <!-- Robot description parameters -->
    <xacro:arg name="prefix" default="" />
    <xacro:arg name="side" default="right" />
    <xacro:arg name="zero_pos" default="up" />
    
    <!-- Control-related parameters -->
    <xacro:arg name="can_device" default="can0" />
    <xacro:arg name="use_mock_hardware" default="false" />
    <xacro:arg name="mock_sensor_commands" default="false" />

    <!-- Include robot description (without control parameters) -->
    <xacro:include filename="openarm.robot.xacro"/>
    <xacro:openarm_robot prefix="$(arg prefix)" side="$(arg side)" zero_pos="$(arg zero_pos)"/>
    
    <!-- Include control configuration (with only control parameters) -->
    <xacro:include filename="$(find openarm_description)/urdf/openarm.ros2_control.xacro"/>
    <xacro:arg name="initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
    <xacro:openarm_ros2_control name="OpenArmHW" prefix="$(arg prefix)" initial_positions_file="$(arg initial_positions_file)" can_device="$(arg can_device)" use_mock_hardware="$(arg use_mock_hardware)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
    
</robot>