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Add custom xarm packages

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This commit is contained in:
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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86
src/custom_xarm_description/urdf/xarm7/xarm7.transmission.xacro Executable file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="xarm7_transmission"
params="prefix hard_interface:=EffortJointInterface reduction:=100">
<transmission name="${prefix}tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}joint1">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}motor1">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}joint2">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}motor2">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}tran3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}joint3">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}motor3">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}tran4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}joint4">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}motor3">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}tran5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}joint5">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}motor5">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}tran6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}joint6">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}motor6">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}tran7">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}joint7">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}motor7">
<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>