25 lines
1 KiB
XML
25 lines
1 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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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="" />
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<xacro:arg name="hardware" default="gazebo" />
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<xacro:arg name="simulation_controllers" default="" />
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<xacro:arg name="tf_prefix" default="" />
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<xacro:arg name="namespace" default="arm0"/>
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<xacro:arg name="x" default="-0.10" />
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<xacro:arg name="y" default="0.0" />
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<xacro:arg name="z" default="0.0" />
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<xacro:arg name="roll" default="0.0" />
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<xacro:arg name="pitch" default="0.0" />
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<xacro:arg name="yaw" default="0.0" />
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<xacro:include filename="$(find rbs_mill_assist)/urdf/rbs_arm_macro.xacro" />
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<link name="world" />
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<!-- Arm-->
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<xacro:rbs_arm_vacuum namespace="$(arg namespace)" parent="world" tf_prefix="$(arg tf_prefix)" hardware="$(arg hardware)"
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gripper_name="$(arg gripper_name)" controllers="$(arg simulation_controllers)">
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<origin xyz="$(arg x) $(arg y) $(arg z)" rpy="$(arg roll) $(arg pitch) $(arg yaw)" />
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</xacro:rbs_arm_vacuum>
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</robot>
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