108 lines
3.5 KiB
XML
108 lines
3.5 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="aubo_ros2_control" params="hardware robot_ip:=^">
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<ros2_control name="aubo_hardware_interface" type="system">
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<hardware>
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<xacro:if value="${hardware=='gazebo'}">
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<plugin>gz_ros2_control/GazeboSimSystem</plugin>
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</xacro:if>
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<xacro:if value="${hardware=='mock'}">
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<plugin>mock_components/GenericSystem</plugin>
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</xacro:if>
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<xacro:if value="${hardware=='real'}">
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<plugin>aubo_driver/AuboHardwareInterface</plugin>
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<param name="robot_ip">${robot_ip}</param>
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</xacro:if>
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</hardware>
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<joint name="shoulder_joint">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity" />
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</joint>
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<joint name="upperArm_joint">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<xacro:if value="${hardware=='gazebo'}">
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<state_interface name="position">
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<param name="initial_value">0.5</param>
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</state_interface>
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</xacro:if>
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<xacro:if value="${hardware=='real' or hardware=='mock'}">
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<state_interface name="position" />
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</xacro:if>
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<state_interface name="velocity" />
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</joint>
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<joint name="foreArm_joint">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<xacro:if value="${hardware=='gazebo'}">
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<state_interface name="position">
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<param name="initial_value">1.75</param>
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</state_interface>
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</xacro:if>
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<xacro:if value="${hardware=='real' or hardware=='mock'}">
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<state_interface name="position" />
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</xacro:if>
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<state_interface name="velocity" />
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</joint>
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<joint name="wrist1_joint">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<xacro:if value="${hardware=='gazebo'}">
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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</xacro:if>
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<xacro:if value="${hardware=='real' or hardware=='mock'}">
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<state_interface name="position" />
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</xacro:if>
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<state_interface name="velocity" />
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</joint>
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<joint name="wrist2_joint">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<xacro:if value="${hardware=='gazebo'}">
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<state_interface name="position">
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<param name="initial_value">1.57</param>
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</state_interface>
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</xacro:if>
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<xacro:if value="${hardware=='real' or hardware=='mock'}">
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<state_interface name="position" />
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</xacro:if>
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<state_interface name="velocity" />
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</joint>
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<joint name="wrist3_joint">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<xacro:if value="${hardware=='gazebo'}">
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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</xacro:if>
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<xacro:if value="${hardware=='real' or hardware=='mock'}">
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<state_interface name="position" />
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</xacro:if>
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<state_interface name="velocity" />
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</joint>
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</ros2_control>
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</xacro:macro>
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</robot>
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