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Add custom xarm packages

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Nicolas Hiillos
2023-03-21 13:33:51 +02:00
parent 1763aee9ca
commit e42e0fea90
176 changed files with 13024 additions and 6 deletions
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67
src/custom_xarm_description/urdf/lite6/lite6_robot_macro.xacro Executable file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="lite6" >
<xacro:macro name="lite6_robot" params="prefix:='' namespace:='xarm' limited:='false' effort_control:='false'
velocity_control:='false' attach_to:='world' xyz:='0 0 0' rpy:='0 0 0' load_gazebo_plugin:='false'
ros2_control_plugin:='uf_robot_hardware/UFRobotSystemHardware' ros2_control_params:='' add_gripper:='false'
robot_ip:='' report_type:='normal' baud_checkset:='true' default_gripper_baud:=2000000 ">
<!-- include lite6 relative macros: -->
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.ros2_control.xacro" />
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.urdf.xacro" />
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.transmission.xacro" />
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.gazebo.xacro" />
<!-- gazebo_plugin -->
<xacro:if value="${load_gazebo_plugin}">
<xacro:include filename="$(find xarm_description)/urdf/common/common.gazebo.xacro" />
<xacro:gazebo_ros_control_plugin prefix="${prefix}" ros2_control_params="${ros2_control_params}"/>
</xacro:if>
<!-- add one world link if no 'attach_to' specified -->
<xacro:if value="${attach_to == 'world'}">
<link name="world" />
</xacro:if>
<joint name="${prefix}world_joint" type="fixed">
<parent link="${attach_to}" />
<child link = "${prefix}link_base" />
<origin xyz="${xyz}" rpy="${rpy}" />
</joint>
<xacro:if value="${limited}">
<xacro:lite6_ros2_control prefix="${prefix}"
velocity_control="${velocity_control}"
ros2_control_plugin="${ros2_control_plugin}"
hw_ns="${namespace}" add_gripper="${add_gripper}"
robot_ip="${robot_ip}" report_type="${report_type}"
baud_checkset="${baud_checkset}" default_gripper_baud="${default_gripper_baud}"
joint1_lower_limit="${-pi}" joint1_upper_limit="${pi}"
joint2_lower_limit="${-2.61799}" joint2_upper_limit="${2.61799}"
joint3_lower_limit="${-0.061087}" joint3_upper_limit="${5.235988}"
joint4_lower_limit="${-pi}" joint4_upper_limit="${pi}"
joint5_lower_limit="${-2.1642}" joint5_upper_limit="${2.1642}"
joint6_lower_limit="${-pi}" joint6_upper_limit="${pi}"/>
<xacro:lite6_urdf prefix="${prefix}"
joint1_lower_limit="${-pi}" joint1_upper_limit="${pi}"
joint2_lower_limit="${-2.61799}" joint2_upper_limit="${2.61799}"
joint3_lower_limit="${-0.061087}" joint3_upper_limit="${5.235988}"
joint4_lower_limit="${-pi}" joint4_upper_limit="${pi}"
joint5_lower_limit="${-2.1642}" joint5_upper_limit="${2.1642}"
joint6_lower_limit="${-pi}" joint6_upper_limit="${pi}"/>
</xacro:if>
<xacro:unless value="${limited}">
<xacro:lite6_ros2_control prefix="${prefix}" velocity_control="${velocity_control}"
ros2_control_plugin="${ros2_control_plugin}"
hw_ns="${namespace}" add_gripper="${add_gripper}"
robot_ip="${robot_ip}" report_type="${report_type}"
baud_checkset="${baud_checkset}" default_gripper_baud="${default_gripper_baud}" />
<xacro:lite6_urdf prefix="${prefix}"/>
</xacro:unless>
<xacro:lite6_transmission prefix="${prefix}" hard_interface="${'EffortJointInterface' if effort_control else 'VelocityJointInterface' if velocity_control else 'PositionJointInterface'}" />
<xacro:lite6_gazebo prefix="${prefix}" />
</xacro:macro>
</robot>