19 lines
1.1 KiB
Plaintext
19 lines
1.1 KiB
Plaintext
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<?xml version='1.0' encoding='utf-8'?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
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<xacro:arg name="arm_id" default="panda"/> <!-- Name of this panda -->
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<xacro:arg name="hand" default="false"/> <!-- Should a franka_gripper be mounted at the flange?" -->
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<xacro:arg name="robot_ip" default=""/> <!-- IP address or hostname of the robot" -->
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<xacro:arg name="use_fake_hardware" default="false"/>
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<xacro:arg name="fake_sensor_commands" default="false"/>
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<xacro:include filename="$(find franka_description)/robots/panda_arm.xacro"/>
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<xacro:panda_arm arm_id="$(arg arm_id)" safety_distance="0.03"/>
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<xacro:if value="$(arg hand)">
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<xacro:include filename="$(find franka_description)/robots/hand.xacro"/>
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<xacro:hand ns="$(arg arm_id)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id)_link8" safety_distance="0.03"/>
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</xacro:if>
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<xacro:include filename="$(find franka_description)/robots/panda_arm.ros2_control.xacro"/>
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<xacro:panda_arm_ros2_control ns="$(arg arm_id)" robot_ip="$(arg robot_ip)" use_fake_hardware="$(arg use_fake_hardware)" fake_sensor_commands="$(arg fake_sensor_commands)"/>
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</robot>
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