38 lines
1.7 KiB
Plaintext
38 lines
1.7 KiB
Plaintext
|
<?xml version="1.0"?>
|
||
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||
|
|
|
||
|
|
<xacro:macro name="panda_arm_ros2_control" params="ns robot_ip use_fake_hardware:=^|false fake_sensor_commands:=^|false">
|
||
|
|
<ros2_control name="FrankaHardwareInterface" type="system">
|
||
|
|
<hardware>
|
||
|
|
<xacro:if value="${use_fake_hardware}">
|
||
|
|
<plugin>fake_components/GenericSystem</plugin>
|
||
|
|
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
|
||
|
|
<param name="state_following_offset">0.0</param>
|
||
|
|
</xacro:if>
|
||
|
|
<xacro:unless value="${use_fake_hardware}">
|
||
|
|
<plugin>franka_hardware/FrankaHardwareInterface</plugin>
|
||
|
|
<param name="robot_ip">${robot_ip}</param>
|
||
|
|
</xacro:unless>
|
||
|
|
</hardware>
|
||
|
|
|
||
|
|
<xacro:macro name="configure_joint" params="joint_name initial_position">
|
||
|
|
<joint name="${joint_name}">
|
||
|
|
<param name="initial_position">${initial_position}</param>
|
||
|
|
<command_interface name="effort"/>
|
||
|
|
<state_interface name="position"/>
|
||
|
|
<state_interface name="velocity"/>
|
||
|
|
<state_interface name="effort"/>
|
||
|
|
</joint>
|
||
|
|
</xacro:macro>
|
||
|
|
|
||
|
|
<xacro:configure_joint joint_name="${ns}_joint1" initial_position="0.0"/>
|
||
|
|
<xacro:configure_joint joint_name="${ns}_joint2" initial_position="${-pi/4}"/>
|
||
|
|
<xacro:configure_joint joint_name="${ns}_joint3" initial_position="0.0"/>
|
||
|
|
<xacro:configure_joint joint_name="${ns}_joint4" initial_position="${-3*pi/4}"/>
|
||
|
|
<xacro:configure_joint joint_name="${ns}_joint5" initial_position="0.0"/>
|
||
|
|
<xacro:configure_joint joint_name="${ns}_joint6" initial_position="${pi/2}"/>
|
||
|
|
<xacro:configure_joint joint_name="${ns}_joint7" initial_position="${pi/4}"/>
|
||
|
|
|
||
|
|
</ros2_control>
|
||
|
|
</xacro:macro>
|
||
|
|
</robot>
|