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.
98 lines
4.4 KiB
XML
98 lines
4.4 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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</ros2_control>
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</xacro:macro>
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</robot>
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