runtime/rasmt_support/urdf/robot/rasmt_single_control.xacro

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XML

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="rasmt_single_control" params="prefix sim">
<!-- arg for control mode -->
<ros2_control name="rasmt_single_hi" type="system">
<!-- <xacro:if value="${sim == 'gazebo'}">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
</xacro:if> -->
<xacro:if value="${sim == 'ignition'}">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
</xacro:if>
<xacro:if value="${sim == 'fake'}">
<hardware>
<plugin>fake_components/GenericSystem</plugin>
</hardware>
</xacro:if>
<joint name="${prefix}_Rot_Z_1">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="${prefix}_Rot_Y_1">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="${prefix}_Rot_Z_2">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="${prefix}_Rot_Y_2">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="${prefix}_Rot_Z_3">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="${prefix}_Rot_Y_4">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</ros2_control>
</xacro:macro>
</robot>