refactor: separate robot and control xacros (#22)
# Summary The previous URDF directory structure used has a chained call from **openarm.urdf.xacro** -> **openarm.xacro** -> **openarm.ros2_control.xacro**. **openarm.xacro** takes both robot hardware description and control/communication configuration arguments but the file content is only about robot description. # Changes Made - Renamed **openarm.xacro** to **openarm.robot.xacro**. This file now contains only the robot's hardware description, including links, joints, visuals, and inertial properties. - **openarm.control.xacro** handles all ROS 2 control configurations, including hardware interfaces, joint interfaces, and CAN device setup. - Updated openarm.urdf.xacro (entry point)Calls both **openarm.robot.xacro** and **openarm.control.xacro**. This change should separates responsibilities and arguments for each subsystem. Have tested with bringup scripts for both single-arm and bimanual configurations.
This commit is contained in:
Yue Yin
GitHub
parent
2206a7bf95
commit
5bbe23cf28
@ -1,8 +1,23 @@
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<?xml version="1.0" ?>
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from openarm_bimanual.urdf.xacro | -->
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<!-- | This document was autogenerated by xacro from openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<!-- =================================================================================== -->
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<!--
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Copyright 2025 Reazon Holdings, Inc.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<robot name="openarm_bimanual">
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<robot name="openarm_bimanual">
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<material name="gray">
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<material name="gray">
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<color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
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<color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
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@ -156,81 +171,6 @@
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<!-- side right, left -->
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<!-- side right, left -->
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<!-- recommended prefixes left_, right_, etc. -->
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<!-- recommended prefixes left_, right_, etc. -->
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<!-- zero_pos up, arm -->
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<!-- zero_pos up, arm -->
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<ros2_control name="right_OpenArmHW" type="system">
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<hardware>
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<!-- By default, set up controllers for simulation. This won't work on real hardware -->
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<!-- <plugin>mock_components/GenericSystem</plugin> -->
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<plugin>openarm_hardware/OpenArmHW</plugin>
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<param name="prefix">right_</param>
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<param name="can_device">can0</param>
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</hardware>
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<joint name="right_rev1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev2">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev3">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev4">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev5">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev6">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev7">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_left_pris1">
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<command_interface name="position"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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<!-- <joint name="${prefix}right_pris2">
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<state_interface name="position">
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<param name="initial_value">${initial_positions['right_pris2']}</param>
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</state_interface>
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</joint> -->
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</ros2_control>
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<link name="right_dummy_link"/>
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<link name="right_dummy_link"/>
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<joint name="right_dummy_joint" type="fixed">
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<joint name="right_dummy_joint" type="fixed">
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<parent link="right_dummy_link"/>
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<parent link="right_dummy_link"/>
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@ -514,81 +454,6 @@
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<!-- side right, left -->
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<!-- side right, left -->
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<!-- recommended prefixes left_, right_, etc. -->
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<!-- recommended prefixes left_, right_, etc. -->
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<!-- zero_pos up, arm -->
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<!-- zero_pos up, arm -->
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<ros2_control name="left_OpenArmHW" type="system">
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<hardware>
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<!-- By default, set up controllers for simulation. This won't work on real hardware -->
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<!-- <plugin>mock_components/GenericSystem</plugin> -->
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<plugin>openarm_hardware/OpenArmHW</plugin>
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<param name="prefix">left_</param>
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<param name="can_device">can1</param>
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</hardware>
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<joint name="left_rev1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev2">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev3">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev4">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev5">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev6">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev7">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_left_pris1">
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<command_interface name="position"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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<!-- <joint name="${prefix}right_pris2">
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<state_interface name="position">
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<param name="initial_value">${initial_positions['right_pris2']}</param>
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</state_interface>
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</joint> -->
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</ros2_control>
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<link name="left_dummy_link"/>
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<link name="left_dummy_link"/>
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<joint name="left_dummy_joint" type="fixed">
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<joint name="left_dummy_joint" type="fixed">
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<parent link="left_dummy_link"/>
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<parent link="left_dummy_link"/>
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@ -869,4 +734,140 @@
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<child link="left_dummy_link"/>
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<child link="left_dummy_link"/>
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<origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
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<origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
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</joint>
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</joint>
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<ros2_control name="right_RightOpenArmHW" type="system">
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<hardware>
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<plugin>openarm_hardware/OpenArmHW</plugin>
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<param name="prefix">right_</param>
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<param name="can_device">can0</param>
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</hardware>
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<joint name="right_rev1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev2">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev3">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev4">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev5">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev6">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev7">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_left_pris1">
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<command_interface name="position"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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<ros2_control name="left_LeftOpenArmHW" type="system">
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<hardware>
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<plugin>openarm_hardware/OpenArmHW</plugin>
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<param name="prefix">left_</param>
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<param name="can_device">can1</param>
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</hardware>
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<joint name="left_rev1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev2">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev3">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev4">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev5">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev6">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev7">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_left_pris1">
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<command_interface name="position"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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</robot>
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</robot>
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@ -16,7 +16,16 @@
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-->
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-->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">
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<xacro:include filename="$(find openarm_description)/urdf/openarm.xacro"/>
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<!-- Robot description parameters -->
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<xacro:arg name="prefix" default="" />
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<!-- Control-related parameters -->
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<xacro:arg name="right_can_device" default="can0" />
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<xacro:arg name="left_can_device" default="can1" />
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<xacro:arg name="use_mock_hardware" default="false" />
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<xacro:arg name="mock_sensor_commands" default="false" />
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<xacro:include filename="$(find openarm_description)/urdf/openarm.robot.xacro"/>
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<xacro:include filename="$(find openarm_bimanual_description)/urdf/openarm_pedestal.urdf"/>
|
<xacro:include filename="$(find openarm_bimanual_description)/urdf/openarm_pedestal.urdf"/>
|
||||||
<xacro:include filename="openarm_bimanual_sensors.xacro"/>
|
<xacro:include filename="openarm_bimanual_sensors.xacro"/>
|
||||||
|
|
||||||
@ -27,18 +36,26 @@
|
|||||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<xacro:openarm prefix="right_" side="right" zero_pos="arm" can_device="can0"/>
|
<xacro:openarm_robot prefix="right_" side="right" zero_pos="arm"/>
|
||||||
<joint name="right_fixed1" type="fixed">
|
<joint name="right_fixed1" type="fixed">
|
||||||
<parent link="pedestal_link"/>
|
<parent link="pedestal_link"/>
|
||||||
<child link="right_dummy_link"/>
|
<child link="right_dummy_link"/>
|
||||||
<origin rpy="${3.0186531925068127 + pi} -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>
|
<origin rpy="${3.0186531925068127 + pi} -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<xacro:openarm prefix="left_" side="left" zero_pos="arm" can_device="can1"/>
|
<xacro:openarm_robot prefix="left_" side="left" zero_pos="arm"/>
|
||||||
<joint name="left_fixed1" type="fixed">
|
<joint name="left_fixed1" type="fixed">
|
||||||
<parent link="pedestal_link"/>
|
<parent link="pedestal_link"/>
|
||||||
<child link="left_dummy_link"/>
|
<child link="left_dummy_link"/>
|
||||||
<origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
|
<origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
|
<!-- Include control configuration for both arms -->
|
||||||
|
<xacro:include filename="$(find openarm_description)/urdf/openarm.ros2_control.xacro"/>
|
||||||
|
<xacro:arg name="right_initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
|
||||||
|
<xacro:arg name="left_initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
|
||||||
|
|
||||||
|
<xacro:openarm_ros2_control name="RightOpenArmHW" prefix="right_" initial_positions_file="$(arg right_initial_positions_file)" can_device="$(arg right_can_device)" use_mock_hardware="$(arg use_mock_hardware)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
|
||||||
|
<xacro:openarm_ros2_control name="LeftOpenArmHW" prefix="left_" initial_positions_file="$(arg left_initial_positions_file)" can_device="$(arg left_can_device)" use_mock_hardware="$(arg use_mock_hardware)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
|
||||||
|
|
||||||
</robot>
|
</robot>
|
||||||
|
|||||||
@ -23,19 +23,14 @@
|
|||||||
<color rgba="${50/255} ${50/255} ${50/255} 1.0"/>
|
<color rgba="${50/255} ${50/255} ${50/255} 1.0"/>
|
||||||
</material>
|
</material>
|
||||||
|
|
||||||
<xacro:macro name="openarm" params="side:='right' prefix:='' zero_pos='up' can_device='can0' use_mock_hardware:=false mock_sensor_commands:=false">
|
<xacro:macro name="openarm_robot" params="side:='right' prefix:='' zero_pos='up'">
|
||||||
<!-- side right, left -->
|
<!-- side right, left -->
|
||||||
<!-- recommended prefixes left_, right_, etc. -->
|
<!-- recommended prefixes left_, right_, etc. -->
|
||||||
<!-- zero_pos up, arm -->
|
<!-- zero_pos up, arm -->
|
||||||
|
|
||||||
|
|
||||||
<xacro:property name="reflect" value="${1 if side=='right' else -1}"/>
|
<xacro:property name="reflect" value="${1 if side=='right' else -1}"/>
|
||||||
<xacro:property name="rotate" value="${0 if side=='right' else pi}"/>
|
<xacro:property name="rotate" value="${0 if side=='right' else pi}"/>
|
||||||
|
|
||||||
<xacro:include filename="$(find openarm_description)/urdf/openarm.ros2_control.xacro" />
|
|
||||||
<xacro:arg name="initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
|
|
||||||
<xacro:openarm_ros2_control name="OpenArmHW" prefix="${prefix}" initial_positions_file="$(arg initial_positions_file)" can_device="${can_device}" use_mock_hardware="${use_mock_hardware}" mock_sensor_commands="${mock_sensor_commands}"/>
|
|
||||||
|
|
||||||
<link name="${prefix}dummy_link"/>
|
<link name="${prefix}dummy_link"/>
|
||||||
|
|
||||||
<joint name="${prefix}dummy_joint" type="fixed">
|
<joint name="${prefix}dummy_joint" type="fixed">
|
||||||
@ -92,12 +92,6 @@
|
|||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<!-- <joint name="${prefix}right_pris2">
|
|
||||||
<state_interface name="position">
|
|
||||||
<param name="initial_value">${initial_positions['right_pris2']}</param>
|
|
||||||
</state_interface>
|
|
||||||
</joint> -->
|
|
||||||
|
|
||||||
</ros2_control>
|
</ros2_control>
|
||||||
</xacro:macro>
|
</xacro:macro>
|
||||||
</robot>
|
</robot>
|
||||||
|
|||||||
@ -1,8 +1,23 @@
|
|||||||
<?xml version="1.0" ?>
|
<?xml version="1.0" ?>
|
||||||
<!-- =================================================================================== -->
|
<!-- =================================================================================== -->
|
||||||
<!-- | This document was autogenerated by xacro from openarm.urdf.xacro | -->
|
<!-- | This document was autogenerated by xacro from openarm_description/urdf/openarm.urdf.xacro | -->
|
||||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||||
<!-- =================================================================================== -->
|
<!-- =================================================================================== -->
|
||||||
|
<!--
|
||||||
|
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 name="openarm">
|
<robot name="openarm">
|
||||||
<material name="gray">
|
<material name="gray">
|
||||||
<color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
|
<color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
|
||||||
@ -13,81 +28,6 @@
|
|||||||
<!-- side right, left -->
|
<!-- side right, left -->
|
||||||
<!-- recommended prefixes left_, right_, etc. -->
|
<!-- recommended prefixes left_, right_, etc. -->
|
||||||
<!-- zero_pos up, arm -->
|
<!-- zero_pos up, arm -->
|
||||||
<ros2_control name="OpenArmHW" type="system">
|
|
||||||
<hardware>
|
|
||||||
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
|
|
||||||
<!-- <plugin>mock_components/GenericSystem</plugin> -->
|
|
||||||
<plugin>openarm_hardware/OpenArmHW</plugin>
|
|
||||||
<param name="prefix"></param>
|
|
||||||
<param name="can_device">can0</param>
|
|
||||||
</hardware>
|
|
||||||
<joint name="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="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="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="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="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="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="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="left_pris1">
|
|
||||||
<command_interface name="position"/>
|
|
||||||
<state_interface name="position"/>
|
|
||||||
<state_interface name="velocity"/>
|
|
||||||
</joint>
|
|
||||||
<!-- <joint name="${prefix}right_pris2">
|
|
||||||
<state_interface name="position">
|
|
||||||
<param name="initial_value">${initial_positions['right_pris2']}</param>
|
|
||||||
</state_interface>
|
|
||||||
</joint> -->
|
|
||||||
</ros2_control>
|
|
||||||
<link name="dummy_link"/>
|
<link name="dummy_link"/>
|
||||||
<joint name="dummy_joint" type="fixed">
|
<joint name="dummy_joint" type="fixed">
|
||||||
<parent link="dummy_link"/>
|
<parent link="dummy_link"/>
|
||||||
@ -363,4 +303,71 @@
|
|||||||
<child link="gripper_center"/>
|
<child link="gripper_center"/>
|
||||||
<origin rpy="0 0 0" xyz="-0.13 0.00 0.0132053"/>
|
<origin rpy="0 0 0" xyz="-0.13 0.00 0.0132053"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
<ros2_control name="OpenArmHW" type="system">
|
||||||
|
<hardware>
|
||||||
|
<plugin>mock_components/GenericSystem</plugin>
|
||||||
|
<param name="mock_sensor_commands">False</param>
|
||||||
|
</hardware>
|
||||||
|
<joint name="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="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="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="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="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="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="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="left_pris1">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
</joint>
|
||||||
|
</ros2_control>
|
||||||
</robot>
|
</robot>
|
||||||
|
|||||||
@ -15,11 +15,23 @@
|
|||||||
limitations under the License.
|
limitations under the License.
|
||||||
-->
|
-->
|
||||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
|
||||||
|
<!-- Robot description parameters -->
|
||||||
<xacro:arg name="prefix" default="" />
|
<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="use_mock_hardware" default="false" />
|
||||||
<xacro:arg name="mock_sensor_commands" default="false" />
|
<xacro:arg name="mock_sensor_commands" default="false" />
|
||||||
|
|
||||||
<xacro:include filename="openarm.xacro"/>
|
<!-- Include robot description (without control parameters) -->
|
||||||
<xacro:openarm prefix="$(arg prefix)" use_mock_hardware="$(arg use_mock_hardware)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
|
<xacro:include filename="openarm.robot.xacro"/>
|
||||||
<xacro:include filename="$(find openarm_description)/urdf/openarm_sensors.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>
|
</robot>
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user