openarm/openarm_ros2
1
0
Fork 0
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Refactor openarm urdf

Browse Source
This commit is contained in:
Thomason Zhou 2025-04-01 13:46:52 +09:00
parent 8168442d4e
commit b50556cb83
3 changed files with 3 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
openarm_description/urdf/openarm.urdf.xacro
View File

@ -2,4 +2,7 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
<xacro:include filename="openarm.xacro"/>
<xacro:openarm/>
<xacro:include filename="openarm_sensors.xacro"/>
<xacro:include filename="openarm.ros2_control.xacro" />
<xacro:openarm_ros2_control name="OpenArmHW" prefix="${prefix}" initial_positions_file="$(arg initial_positions_file)"/>
</robot>

6
openarm_description/urdf/openarm.xacro
View File

@ -14,14 +14,8 @@
<xacro:property name="reflect" value="${1 if side=='right' else -1}"/>
<xacro:property name="rotate" value="${0 if side=='right' else pi}"/>
<xacro:include filename="openarm_sensors.urdf.xacro"/>
<xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
<xacro:include filename="openarm.ros2_control.xacro" />
<xacro:openarm_ros2_control name="OpenArmHW" prefix="${prefix}" initial_positions_file="$(arg initial_positions_file)"/>
<link name="${prefix}link1">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>

0
openarm_description/urdf/openarm_sensors.urdf.xacro → openarm_description/urdf/openarm_sensors.xacro
View File