mirror of
https://github.com/bjoernellens1/cps_loki_description.git
synced 2024-11-22 23:53:48 +00:00
38 lines
1.2 KiB
Plaintext
38 lines
1.2 KiB
Plaintext
|
<?xml version="1.0"?>
|
||
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||
|
|
|
||
|
|
<xacro:macro name="odrive_ros2_control"
|
||
|
|
params="name serial_number:=^|000000000000 enable_joint0:=^|true enable_joint1:=^|true joint0_name:=^|joint0 joint1_name:=^|joint1">
|
||
|
|
|
||
|
|
<ros2_control name="${name}" type="system">
|
||
|
|
<hardware>
|
||
|
|
<plugin>odrive_hardware_interface/ODriveHardwareInterface</plugin>
|
||
|
|
</hardware>
|
||
|
|
|
||
|
|
<sensor name="odrv0">
|
||
|
|
<param name="serial_number">${serial_number}</param>
|
||
|
|
</sensor>
|
||
|
|
|
||
|
|
<xacro:if value="${enable_joint0}">
|
||
|
|
<joint name="${joint0_name}">
|
||
|
|
<param name="serial_number">${serial_number}</param>
|
||
|
|
<param name="axis">0</param>
|
||
|
|
<param name="enable_watchdog">1</param>
|
||
|
|
<param name="watchdog_timeout">0.1</param>
|
||
|
|
</joint>
|
||
|
|
</xacro:if>
|
||
|
|
|
||
|
|
<xacro:if value="${enable_joint1}">
|
||
|
|
<joint name="${joint1_name}">
|
||
|
|
<param name="serial_number">${serial_number}</param>
|
||
|
|
<param name="axis">1</param>
|
||
|
|
<param name="enable_watchdog">1</param>
|
||
|
|
<param name="watchdog_timeout">0.1</param>
|
||
|
|
</joint>
|
||
|
|
</xacro:if>
|
||
|
|
</ros2_control>
|
||
|
|
|
||
|
|
</xacro:macro>
|
||
|
|
|
||
|
|
</robot>
|