mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
synced 2026-02-11 09:20:40 +00:00
79 lines
3.7 KiB
XML
79 lines
3.7 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="ASTRA_Arm_ros2_control" params="name initial_positions_file">
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<xacro:property name="initial_positions" value="${xacro.load_yaml(initial_positions_file)['initial_positions']}"/>
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<ros2_control name="${name}" type="system">
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<hardware>
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<!-- By default, set up controllers for simulation. This won't work on real hardware -->
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<plugin>mock_components/GenericSystem</plugin>
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</hardware>
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<joint name="Axis_0_Joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['Axis_0_Joint']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="Axis_1_Joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['Axis_1_Joint']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="Axis_2_Joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['Axis_2_Joint']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="Axis_3_Joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['Axis_3_Joint']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="Wrist_Differential_Joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['Wrist_Differential_Joint']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="Wrist-EF_Roll_Joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['Wrist-EF_Roll_Joint']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="Gripper _Slider_Right">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['Gripper _Slider_Right']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="Gripper_Slider_Left">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['Gripper_Slider_Left']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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</xacro:macro>
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</robot>
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