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