26 lines
1 KiB
XML
26 lines
1 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="simple_gz_gripper_ros2_control" params="prefix">
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<ros2_control name="GazeboSystem" type="system">
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<hardware>
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<plugin>gz_ros2_control/GazeboSimSystem</plugin>
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</hardware>
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<joint name="${prefix}right_finger_joint">
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<command_interface name="position" />
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<state_interface name="position">
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<param name="initial_value">0.00</param>
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</state_interface>
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<!-- <state_interface name="position" /> -->
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="${prefix}left_finger_joint">
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<!-- <param name="mimic">${prefix}right_finger_joint</param> -->
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<!-- <param name="multiplier">1</param> -->
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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>
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