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Ilya Uraev 2025-02-06 18:57:25 +03:00
commit 05c8a2cf90
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urdf/rbs_arm_modular_macro.xacro Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="rbs_arm" params="namespace parent *origin tf_prefix hardware gripper_name controllers">
<xacro:include filename="$(find rbs_arm)/urdf/inc/rbs_base_link.xacro"></xacro:include>
<xacro:include filename="$(find rbs_arm)/urdf/inc/rbs_ee_link.xacro"></xacro:include>
<xacro:include filename="$(find rbs_arm)/urdf/inc/rbs_fork_link.xacro"></xacro:include>
<xacro:include filename="$(find rbs_arm)/urdf/inc/rbs_main_link.xacro"></xacro:include>
<xacro:include filename="$(find rbs_arm)/urdf/sensors.xacro"></xacro:include>
<!-- BEGIN robot description -->
<!-- link 0-->
<xacro:base_link hardware="${hardware}" parent="${parent}" tf_prefix="${tf_prefix}">
<xacro:insert_block name="origin"></xacro:insert_block>
</xacro:base_link>
<!-- link 1-->
<xacro:fork_link d="0.2" hardware="${hardware}" name="fork0_link" p="10000" parent="base_link" tf_prefix="${tf_prefix}" initial_joint_position="1.57"></xacro:fork_link>
<!-- link 2-->
<xacro:main_link d="0.2" hardware="${hardware}" name="main0_link" p="10000" parent="fork0_link" tf_prefix="${tf_prefix}" initial_joint_position="0.5"></xacro:main_link>
<!-- link 3-->
<xacro:fork_link d="0.2" hardware="${hardware}" name="fork1_link" p="10000" parent="main0_link" tf_prefix="${tf_prefix}" initial_joint_position="0.0"></xacro:fork_link>
<!-- link 4-->
<xacro:main_link d="0.2" hardware="${hardware}" name="main1_link" p="1000" parent="fork1_link" tf_prefix="${tf_prefix}" initial_joint_position="1.5"></xacro:main_link>
<!-- ee link also contain tool0-->
<!-- link 5-->
<xacro:ee_link d="0.2" hardware="${hardware}" p="20" parent="main1_link" tf_prefix="${tf_prefix}"></xacro:ee_link>
<!-- END robot description -->
<xacro:rgbd parent="${tf_prefix}ee_link" tf_prefix="${tf_prefix}">
<origin rpy="0.0 -1.57 0.0" xyz="0.0 0.0 0.0754"></origin>
</xacro:rgbd>
<!-- Insert gripper in robot description if exist -->
<!-- <xacro:if value="${gripper_name=='rbs_gripper'}"> -->
<!-- <xacro:include filename="$(find rbs_gripper)/urdf/rbs_gripper_macro.xacro"></xacro:include> -->
<!-- <xacro:rbs_gripper gripper_name="rbs_gripper" hardware="${hardware}"
parent="${tf_prefix}tool0" tf_prefix="${tf_prefix}"> -->
<!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"></origin> -->
<!-- </xacro:rbs_gripper> -->
<!-- </xacro:if> -->
<!-- If hardware == gazebo so insert additional parameters for it -->
<xacro:if value="${hardware=='gazebo'}">
<!-- <xacro:fts link="tool0" name="fts_sensor" tf_prefix="${tf_prefix}"></xacro:fts> -->
<gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(arg simulation_controllers)</parameters>
<ros>
<namespace>${namespace}</namespace>
</ros>
</plugin>
</gazebo>
</xacro:if>
</xacro:macro>
</robot>