67 lines
No EOL
2.8 KiB
XML
67 lines
No EOL
2.8 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="rasms_hi">
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<!-- arg for control mode -->
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<ros2_control name="rasms_hi" type="system">
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<hardware>
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<plugin>gazebo_ros2_control/GazeboSystem</plugin>
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</hardware>
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<!-- define joints and command/state interfaces for each joint -->
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<joint name="joint1">
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<command_interface name="position">
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<!-- better to use radians as min max first -->
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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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<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="joint2">
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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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<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="joint3">
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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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<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="joint4">
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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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<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="joint5">
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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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<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="joint6">
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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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<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> |