92 lines
2.8 KiB
XML
92 lines
2.8 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rack">
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<xacro:macro name="rgbd" params="*origin parent tf_prefix">
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<link name="${tf_prefix}rgbd_camera">
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<inertial>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<mass value="0.1" />
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<inertia ixx="0.000166667" ixy="0.0" ixz="0.0" iyy="0.000166667" iyz="0.0" izz="0.000166667" />
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</inertial>
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<visual name="">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="0.01 0.01 0.01" />
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</geometry>
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<material name="">
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<color rgba="0.0 0.0 0.0 1.0" />
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<texture filename="" />
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<geometry>
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<box size="0.01 0.01 0.01" />
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</geometry>
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</collision>
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</link>
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<gazebo reference="${tf_prefix}rgbd_camera">
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<sensor name="${tf_prefix}rgbd_camera" type="rgbd_camera">
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<camera>
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<horizontal_fov>1.047</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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<topic>${tf_prefix}rgbd_camera</topic>
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<enable_metrics>true</enable_metrics>
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</sensor>
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</gazebo>
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<joint name="${tf_prefix}rgbd_camera_to_parent" type="fixed">
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<parent link="${parent}" />
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<child link="${tf_prefix}rgbd_camera" />
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<xacro:insert_block name="origin" />
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</joint>
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<gazebo reference="${tf_prefix}rgbd_camera_to_parent">
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<preserveFixedJoint>1</preserveFixedJoint>
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</gazebo>
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</xacro:macro>
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<xacro:macro name="fts" params="name tf_prefix link">
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<ros2_control name="${tf_prefix}${name}" type="sensor">
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<hardware>
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<plugin>gz_ros2_control/GzFts</plugin>
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</hardware>
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<sensor name="${tf_prefix}${name}">
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<state_interface name="force.x" />
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<state_interface name="force.y" />
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<state_interface name="force.z" />
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<state_interface name="torque.x" />
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<state_interface name="torque.y" />
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<state_interface name="torque.z" />
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</sensor>
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</ros2_control>
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<gazebo reference="${tf_prefix}${link}_joint">
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<preserveFixedJoint>true</preserveFixedJoint>
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<sensor name="${tf_prefix}${name}" type="force_torque">
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<always_on>true</always_on>
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<update_rate>50</update_rate>
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<visualize>true</visualize>
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<topic>${tf_prefix}ft_data</topic>
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<force_torque>
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<frame>sensor</frame>
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<measure_direction>child_to_parent</measure_direction>
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</force_torque>
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</sensor>
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</gazebo>
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</xacro:macro>
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</robot>
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