<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="odrive">

  <xacro:arg name="enable_joint0" default="true" />
  <xacro:arg name="enable_joint1" default="true" />

  <xacro:include filename="$(find odrive_demo_description)/urdf/odrive.ros2_control.xacro" />

  <link name="world" />

  <xacro:if value="$(arg enable_joint0)">
    <link name="link0" />
    <joint name="joint0" type="continuous">
      <parent link="world" />
      <child link="link0" />
      <axis xyz="0 0 1" />
    </joint>
  </xacro:if>

  <xacro:if value="$(arg enable_joint1)">
    <link name="link1" />
    <joint name="joint1" type="continuous">
      <parent link="world" />
      <child link="link1" />
      <axis xyz="0 0 1" />
    </joint>
  </xacro:if>

  <xacro:odrive_ros2_control
    name="odrive_ros2_control"
    enable_joint0="$(arg enable_joint0)"
    enable_joint1="$(arg enable_joint1)" />

</robot>