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feat: add moveit2 configuration

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This commit is contained in:
David Sharpe
2025-08-19 11:38:05 -05:00
committed by David
parent c0d39aa3a6
commit bb2dda02a2
24 changed files with 542 additions and 25 deletions
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78
src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ASTRA_Arm_ros2_control" params="name initial_positions_file">
<xacro:property name="initial_positions" value="${xacro.load_yaml(initial_positions_file)['initial_positions']}"/>
<ros2_control name="${name}" type="system">
<hardware>
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
<plugin>mock_components/GenericSystem</plugin>
</hardware>
<joint name="Axis_0_Joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Axis_0_Joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="Axis_1_Joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Axis_1_Joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="Axis_2_Joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Axis_2_Joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="Axis_3_Joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Axis_3_Joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="Wrist_Differential_Joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Wrist_Differential_Joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="Wrist-EF_Roll_Joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Wrist-EF_Roll_Joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="Gripper_Slider_Left">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Gripper_Slider_Left']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="Gripper _Slider_Right">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Gripper _Slider_Right']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</xacro:macro>
</robot>