38 lines
1.7 KiB
XML
38 lines
1.7 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="panda_arm_ros2_control" params="ns robot_ip use_fake_hardware:=^|false fake_sensor_commands:=^|false">
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<ros2_control name="FrankaHardwareInterface" type="system">
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<hardware>
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<xacro:if value="${use_fake_hardware}">
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<plugin>fake_components/GenericSystem</plugin>
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<param name="fake_sensor_commands">${fake_sensor_commands}</param>
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<param name="state_following_offset">0.0</param>
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</xacro:if>
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<xacro:unless value="${use_fake_hardware}">
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<plugin>franka_hardware/FrankaHardwareInterface</plugin>
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<param name="robot_ip">${robot_ip}</param>
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</xacro:unless>
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</hardware>
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<xacro:macro name="configure_joint" params="joint_name initial_position">
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<joint name="${joint_name}">
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<param name="initial_position">${initial_position}</param>
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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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</xacro:macro>
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<xacro:configure_joint joint_name="${ns}_joint1" initial_position="0.0"/>
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<xacro:configure_joint joint_name="${ns}_joint2" initial_position="${-pi/4}"/>
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<xacro:configure_joint joint_name="${ns}_joint3" initial_position="0.0"/>
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<xacro:configure_joint joint_name="${ns}_joint4" initial_position="${-3*pi/4}"/>
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<xacro:configure_joint joint_name="${ns}_joint5" initial_position="0.0"/>
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<xacro:configure_joint joint_name="${ns}_joint6" initial_position="${pi/2}"/>
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<xacro:configure_joint joint_name="${ns}_joint7" initial_position="${pi/4}"/>
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</ros2_control>
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</xacro:macro>
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</robot> |