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https://github.com/bjoernellens1/cps_loki_description.git
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38 lines
1.2 KiB
XML
38 lines
1.2 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="odrive_ros2_control"
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params="name serial_number:=^|000000000000 enable_joint0:=^|true enable_joint1:=^|true joint0_name:=^|joint0 joint1_name:=^|joint1">
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<ros2_control name="${name}" type="system">
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<hardware>
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<plugin>odrive_hardware_interface/ODriveHardwareInterface</plugin>
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</hardware>
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<sensor name="odrv0">
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<param name="serial_number">${serial_number}</param>
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</sensor>
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<xacro:if value="${enable_joint0}">
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<joint name="${joint0_name}">
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<param name="serial_number">${serial_number}</param>
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<param name="axis">0</param>
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<param name="enable_watchdog">1</param>
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<param name="watchdog_timeout">0.1</param>
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</joint>
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</xacro:if>
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<xacro:if value="${enable_joint1}">
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<joint name="${joint1_name}">
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<param name="serial_number">${serial_number}</param>
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<param name="axis">1</param>
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<param name="enable_watchdog">1</param>
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<param name="watchdog_timeout">0.1</param>
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</joint>
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</xacro:if>
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</ros2_control>
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</xacro:macro>
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</robot>
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