23 lines
1.4 KiB
Text
23 lines
1.4 KiB
Text
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find rbs_arm)/urdf/inc/joint_interface.xacro"/>
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<xacro:macro name="rbs_arm_ros2_control" params="name sim prefix">
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<ros2_control name="${name}" type="system">
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<hardware>
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<xacro:if value="${sim=='gazebo'}">
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<plugin>ign_ros2_control/IgnitionSystem</plugin>
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</xacro:if>
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<xacro:unless value="${sim=='fake'}">
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<plugin>mock_components/GenericSystem</plugin>
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<!-- <param name="mock_sensor_commands">${fake_sensor_commands}</param>
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<param name="state_following_offset">0.0</param> -->
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</xacro:unless>
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</hardware>
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<xacro:joint_interface name="${prefix}fork_link_joint" p="1000" d="0.5" />
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<xacro:joint_interface name="${prefix}main_link_joint" p="1000" d="0.5" />
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<xacro:joint_interface name="${prefix}fork.002_link_joint" p="500" d="0.5" />
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<xacro:joint_interface name="${prefix}main.001_link_joint" p="100" d="0.5" />
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<xacro:joint_interface name="${prefix}fork.003_link_joint" p="10" d="0.5" />
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<xacro:joint_interface name="${prefix}ee_link_joint" p="10" d="0.5" />
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</ros2_control>
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</xacro:macro>
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</robot>
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