5bbe23cf28
# 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.
62 lines
2.9 KiB
XML
62 lines
2.9 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" name="openarm_bimanual">
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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"/>
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<xacro:include filename="openarm_bimanual_sensors.xacro"/>
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<link name="world"/>
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<joint name="dummy_joint" type="fixed">
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<parent link="world"/>
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<child link="pedestal_link"/>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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</joint>
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<xacro:openarm_robot prefix="right_" side="right" zero_pos="arm"/>
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<joint name="right_fixed1" type="fixed">
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<parent link="pedestal_link"/>
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<child link="right_dummy_link"/>
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<origin rpy="${3.0186531925068127 + pi} -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>
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</joint>
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<xacro:openarm_robot prefix="left_" side="left" zero_pos="arm"/>
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<joint name="left_fixed1" type="fixed">
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<parent link="pedestal_link"/>
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<child link="left_dummy_link"/>
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<origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
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</joint>
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<!-- Include control configuration for both arms -->
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<xacro:include filename="$(find openarm_description)/urdf/openarm.ros2_control.xacro"/>
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<xacro:arg name="right_initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
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<xacro:arg name="left_initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
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<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)"/>
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<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)"/>
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</robot>
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