14f160bba4
## Issue - **openarm_bringup/openarm.launch.py** was launching rviz2 with an incorrect configuration file. - The same launch script is intended to execute xacro with a configurable prefix and support mock hardware. However, these features were not functioning as the required arguments and plugin initialization were missing from the xacro files. ## Fix - Updated the rviz configuration path to the correct file. - Added the necessary arguments and plugin setup to the relevant xacro files to enable prefix configuration and mock hardware support.
104 lines
4.6 KiB
XML
104 lines
4.6 KiB
XML
<?xml version="1.0"?>
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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 xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="openarm_ros2_control" params="name initial_positions_file prefix:='' can_device='can0' use_mock_hardware:=false mock_sensor_commands:=false">
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<xacro:property name="initial_positions" value="${xacro.load_yaml(initial_positions_file)['initial_positions']}"/>
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<ros2_control name="${prefix}${name}" type="system">
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<hardware>
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<xacro:if value="${use_mock_hardware}">
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<plugin>mock_components/GenericSystem</plugin>
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<param name="mock_sensor_commands">${mock_sensor_commands}</param>
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</xacro:if>
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<xacro:unless value="${use_mock_hardware}">
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<plugin>openarm_hardware/OpenArmHW</plugin>
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<param name="prefix">${prefix}</param>
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<param name="can_device">${can_device}</param>
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</xacro:unless>
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</hardware>
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<joint name="${prefix}rev1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="${prefix}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="${prefix}rev3">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="${prefix}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="${prefix}rev5">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="${prefix}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="${prefix}rev7">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="${prefix}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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</xacro:macro>
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</robot>
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