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feat(robot): add robot_ip in ros2_control macro

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This commit is contained in:
Ilya Uraev 2025-05-14 13:09:43 +03:00
parent d74ed8647a
commit 6027c57e94
1 changed files with 3 additions and 2 deletions
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urdf/ros2_control.xacro
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@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="aubo_ros2_control" params="hardware">
<xacro:macro name="aubo_ros2_control" params="hardware robot_ip:=^">
<ros2_control name="aubo_hardware_interface" type="system">
<hardware>
<xacro:if value="${hardware=='gazebo'}">
@ -10,7 +10,8 @@
<plugin>mock_components/GenericSystem</plugin>
</xacro:if>
<xacro:if value="${hardware=='real'}">
<plugin>aubo_ros2_control/AuboSystem</plugin>
<plugin>aubo_driver/AuboHardwareInterface</plugin>
<param name="robot_ip">${robot_ip}</param>
</xacro:if>
</hardware>