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Merge pull request #114 from fmauch/remove_ros2_control
Remove ros2_control tag from package (and move it to ur_robot_driver)
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,128 @@ | ||
<?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">${initial_positions['wrist_3_joint']}</param> | ||
</state_interface> | ||
<state_interface name="velocity"> | ||
<param name="initial_value">0.0</param> | ||
</state_interface> | ||
<state_interface name="effort"> | ||
<param name="initial_value">0.0</param> | ||
</state_interface> | ||
</joint> | ||
</xacro:macro> | ||
</robot> |
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Original file line number | Diff line number | Diff line change |
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@@ -0,0 +1,13 @@ | ||
<?xml version="1.0"?> | ||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
<xacro:macro name="ur_sensors" params="tf_prefix"> | ||
<sensor name="${tf_prefix}tcp_fts_sensor"> | ||
<state_interface name="force.x"/> | ||
<state_interface name="force.y"/> | ||
<state_interface name="force.z"/> | ||
<state_interface name="torque.x"/> | ||
<state_interface name="torque.y"/> | ||
<state_interface name="torque.z"/> | ||
</sensor> | ||
</xacro:macro> | ||
</robot> |
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@@ -0,0 +1,30 @@ | ||
<?xml version="1.0"?> | ||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
||
<xacro:include filename="$(find ur_description)/urdf/inc/ur_joint_control.xacro" /> | ||
<xacro:include filename="$(find ur_description)/urdf/inc/ur_sensors.xacro" /> | ||
|
||
<xacro:macro name="ur_ros2_control" params=" | ||
name | ||
tf_prefix | ||
mock_sensor_commands:=false | ||
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)} | ||
"> | ||
|
||
<ros2_control name="${name}" type="system"> | ||
<hardware> | ||
<plugin>mock_components/GenericSystem</plugin> | ||
<param name="mock_sensor_commands">${mock_sensor_commands}</param> | ||
<param name="state_following_offset">0.0</param> | ||
</hardware> | ||
<xacro:ur_joint_control_description | ||
tf_prefix="${tf_prefix}" | ||
initial_positions="${initial_positions}" | ||
/> | ||
|
||
<xacro:ur_sensors | ||
tf_prefix="${tf_prefix}" | ||
/> | ||
</ros2_control> | ||
</xacro:macro> | ||
</robot> |
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