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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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28
src/custom_xarm_moveit_config/srdf/xarm_macro.srdf.xacro Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="xarm_srdf">
<xacro:macro name="xarm_macro_srdf" params="prefix:='' dof:=7 robot_type:='xarm'
add_gripper:='false' add_vacuum_gripper:='false' add_other_geometry:='false' ">
<xacro:if value="${dof == 5}">
<xacro:include filename="$(find xarm_moveit_config)/srdf/_xarm5_macro.srdf.xacro" />
<xacro:xarm5_macro_srdf prefix="${prefix}"
add_gripper="${add_gripper}" add_vacuum_gripper="${add_vacuum_gripper}" add_other_geometry="${add_other_geometry}" />
</xacro:if>
<xacro:if value="${dof == 6}">
<xacro:if value="${robot_type == 'lite'}">
<xacro:include filename="$(find xarm_moveit_config)/srdf/_lite6_macro.srdf.xacro" />
<xacro:lite6_macro_srdf prefix="${prefix}"
add_gripper="${add_gripper}" add_vacuum_gripper="${add_vacuum_gripper}" add_other_geometry="${add_other_geometry}" />
</xacro:if>
<xacro:unless value="${robot_type == 'lite'}">
<xacro:include filename="$(find xarm_moveit_config)/srdf/_xarm6_macro.srdf.xacro" />
<xacro:xarm6_macro_srdf prefix="${prefix}"
add_gripper="${add_gripper}" add_vacuum_gripper="${add_vacuum_gripper}" add_other_geometry="${add_other_geometry}" />
</xacro:unless>
</xacro:if>
<xacro:unless value="${dof == 5 or dof == 6}">
<xacro:include filename="$(find xarm_moveit_config)/srdf/_xarm7_macro.srdf.xacro" />
<xacro:xarm7_macro_srdf prefix="${prefix}"
add_gripper="${add_gripper}" add_vacuum_gripper="${add_vacuum_gripper}" add_other_geometry="${add_other_geometry}" />
</xacro:unless>
</xacro:macro>
</robot>