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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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96
src/custom_xarm_description/urdf/xarm5/xarm5.ros2_control.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="xarm5_ros2_control" params="prefix
velocity_control:='false'
ros2_control_plugin:='uf_robot_hardware/UFRobotSystemHardware'
hw_ns:='xarm' add_gripper:='false'
robot_ip:='' report_type:='normal' baud_checkset:='true' default_gripper_baud:=2000000
joint1_lower_limit:=${-2.0*pi} joint1_upper_limit:=${2.0*pi}
joint2_lower_limit:=${-2.059} joint2_upper_limit:=${2.0944}
joint3_lower_limit:=${-3.927} joint3_upper_limit:=${0.19198}
joint4_lower_limit:=${-1.69297} joint4_upper_limit:=${pi}
joint5_lower_limit:=${-2.0*pi} joint5_upper_limit:=${2.0*pi}">
<ros2_control name="${prefix}${ros2_control_plugin}" type="system">
<hardware>
<plugin>${ros2_control_plugin}</plugin>
<xacro:if value="${ros2_control_plugin == 'uf_robot_hardware/UFRobotSystemHardware'}">
<param name="hw_ns">${prefix}${hw_ns}</param>
<param name="velocity_control">${velocity_control}</param>
<param name="prefix">P${prefix}</param>
<param name="robot_ip">R${robot_ip}</param>
<param name="report_type">${report_type}</param>
<param name="dof">5</param>
<param name="baud_checkset">${baud_checkset}</param>
<param name="default_gripper_baud">${default_gripper_baud}</param>
<param name="robot_type">xarm</param>
<param name="add_gripper">${add_gripper}</param>
</xacro:if>
</hardware>
<joint name="${prefix}joint1">
<command_interface name="position">
<param name="min">${joint1_lower_limit}</param>
<param name="max">${joint1_upper_limit}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.14</param>
<param name="max">3.14</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<!-- <state_interface name="effort"/> -->
</joint>
<joint name="${prefix}joint2">
<command_interface name="position">
<param name="min">${joint2_lower_limit}</param>
<param name="max">${joint2_upper_limit}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.14</param>
<param name="max">3.14</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<!-- <state_interface name="effort"/> -->
</joint>
<joint name="${prefix}joint3">
<command_interface name="position">
<param name="min">${joint3_lower_limit}</param>
<param name="max">${joint3_upper_limit}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.14</param>
<param name="max">3.14</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<!-- <state_interface name="effort"/> -->
</joint>
<joint name="${prefix}joint4">
<command_interface name="position">
<param name="min">${joint4_lower_limit}</param>
<param name="max">${joint4_upper_limit}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.14</param>
<param name="max">3.14</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<!-- <state_interface name="effort"/> -->
</joint>
<joint name="${prefix}joint5">
<command_interface name="position">
<param name="min">${joint5_lower_limit}</param>
<param name="max">${joint5_upper_limit}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.14</param>
<param name="max">3.14</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<!-- <state_interface name="effort"/> -->
</joint>
</ros2_control>
</xacro:macro>
</robot>