87 lines
3.9 KiB
XML
87 lines
3.9 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="openarm_grip_ros2_control" params="name initial_positions_file">
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<xacro:property name="initial_positions" value="${xacro.load_yaml(initial_positions_file)['initial_positions']}"/>
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<ros2_control name="${name}" 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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</hardware>
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<joint name="rev1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['rev1']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="rev2">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['rev2']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="rev3">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['rev3']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="rev4">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['rev4']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="rev5">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['rev5']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="rev6">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['rev6']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="rev7">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['rev7']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="slider_left">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['slider_left']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="slider_right">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['slider_right']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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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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