68 lines
No EOL
2.5 KiB
XML
68 lines
No EOL
2.5 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="rasmt_single_control" params="prefix sim">
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<!-- arg for control mode -->
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<ros2_control name="rasmt_single_hi" type="system">
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<!-- <xacro:if value="${sim == 'gazebo'}">
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<hardware>
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<plugin>gazebo_ros2_control/GazeboSystem</plugin>
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</hardware>
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</xacro:if> -->
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<xacro:if value="${sim == 'ignition'}">
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<hardware>
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<plugin>ign_ros2_control/IgnitionSystem</plugin>
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</hardware>
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</xacro:if>
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<xacro:if value="${sim == 'fake'}">
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<hardware>
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<plugin>fake_components/GenericSystem</plugin>
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</hardware>
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</xacro:if>
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<joint name="${prefix}_Rot_Z_1">
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<command_interface name="effort"/>
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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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<joint name="${prefix}_Rot_Y_1">
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="${prefix}_Rot_Z_2">
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<command_interface name="effort"/>
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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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<joint name="${prefix}_Rot_Y_2">
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="${prefix}_Rot_Z_3">
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<command_interface name="effort"/>
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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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<joint name="${prefix}_Rot_Y_4">
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<command_interface name="effort"/>
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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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</ros2_control>
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</xacro:macro>
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</robot> |