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ur_joint_control.xacro
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ur_joint_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:macro name="ur_joint_control_description" params="
tf_prefix
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
">
<joint name="${tf_prefix}shoulder_pan_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.15</param>
<param name="max">3.15</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}shoulder_lift_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.15</param>
<param name="max">3.15</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}elbow_joint">
<command_interface name="position">
<param name="min">{-pi}</param>
<param name="max">{pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.15</param>
<param name="max">3.15</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['elbow_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}wrist_1_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.2</param>
<param name="max">3.2</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['wrist_1_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}wrist_2_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.2</param>
<param name="max">3.2</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['wrist_2_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${tf_prefix}wrist_3_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.2</param>
<param name="max">3.2</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the mock system and simulation -->
<param name="initial_value">${initial_positions['wrist_3_joint']}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
</xacro:macro>
</robot>