1a1084c627
* Create mujoco_ros2_control package * Enable Mujoco hardware interface for OpenArm * Verify connection with ros2_control * Update actuators to pos/vel * Add motor after creation * Tune KD for smoother motion * Restore realsense camera * Change camera to be 10 tilt from vertical to match physical model * Repair urdf to match physical robot * Checkpoint moveit2_configuration * Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock * Enable octomap perception * Fix base_link to world transform * Update openarm to support moveit2 bimanual planning with end effectors * Improve safety of openarm_hardware zero position autocalibration * Remove openarm_mujoco_ros2_control from moveit2 branch * Restore sensor functionality
143 lines
6.7 KiB
XML
143 lines
6.7 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_bimanual_ros2_control" params="name initial_positions_file">
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<xacro:property name="initial_positions" value="${load_yaml(initial_positions_file)['initial_positions']}"/>
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<ros2_control name="${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="left_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">${initial_positions['left_rev1']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="left_rev2">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['left_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="left_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">${initial_positions['left_rev3']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="left_rev4">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['left_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="left_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">${initial_positions['left_rev5']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="left_rev6">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['left_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="left_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">${initial_positions['left_rev7']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="right_rev1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['right_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="right_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">${initial_positions['right_rev2']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="right_rev3">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['right_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="right_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">${initial_positions['right_rev4']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="right_rev5">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['right_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="right_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">${initial_positions['right_rev6']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="right_rev7">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['right_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="left_left_pris1">
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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">${initial_positions['left_left_pris1']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="right_left_pris1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['right_left_pris1']}</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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