30 lines
1.2 KiB
XML
30 lines
1.2 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rbs_arm">
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<xacro:arg name="gripper_name" default="rbs_gripper" />
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<xacro:arg name="hardware" default="fake" />
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<xacro:arg name="simulation_controllers" default="" />
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<xacro:arg name="prefix" default="" />
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<xacro:property name="hardware" default="$(arg hardware)" />
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<xacro:property name="prefix" default="$(arg prefix)" />
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<xacro:include filename="$(find rbs_arm)/urdf/rbs_arm_macro.xacro" />
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<link name="world" />
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<!-- ROBOT-->
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<xacro:rbs_arm parent="world" hardware="$(arg hardware)" prefix="$(arg prefix)">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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</xacro:rbs_arm>
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<!-- GRIPPER-->
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<!-- ADDITION-->
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<xacro:if value="${hardware=='gazebo'}">
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<gazebo>
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<plugin filename="libign_ros2_control-system.so"
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name="ign_ros2_control::IgnitionROS2ControlPlugin">
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<parameters>$(arg simulation_controllers)</parameters>
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<controller_manager_node_name>${prefix}/controller_manager</controller_manager_node_name>
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</plugin>
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</gazebo>
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</xacro:if>
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</robot>
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