23 lines
1,003 B
XML
23 lines
1,003 B
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Individual joint. -->
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<xacro:macro name="joint_interface" params="name p d">
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<joint name="${name}">
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<command_interface name="position">
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<param name="min">-1</param>
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<param name="max">1</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-1</param>
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<param name="max">1</param>
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</command_interface>
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<param name="p">${p}</param>
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<param name="d">${d}</param>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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</xacro:macro>
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</robot>
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