68 lines
3.5 KiB
XML
Executable File
68 lines
3.5 KiB
XML
Executable File
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="lite6" >
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<xacro:macro name="lite6_robot" params="prefix:='' namespace:='xarm' limited:='false' effort_control:='false'
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velocity_control:='false' attach_to:='world' xyz:='0 0 0' rpy:='0 0 0' load_gazebo_plugin:='false'
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ros2_control_plugin:='uf_robot_hardware/UFRobotSystemHardware' ros2_control_params:='' add_gripper:='false'
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robot_ip:='' report_type:='normal' baud_checkset:='true' default_gripper_baud:=2000000 ">
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<!-- include lite6 relative macros: -->
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<xacro:include filename="$(find custom_xarm_description)/urdf/lite6/lite6.ros2_control.xacro" />
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<xacro:include filename="$(find custom_xarm_description)/urdf/lite6/lite6.urdf.xacro" />
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<xacro:include filename="$(find custom_xarm_description)/urdf/lite6/lite6.transmission.xacro" />
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<xacro:include filename="$(find custom_xarm_description)/urdf/lite6/lite6.gazebo.xacro" />
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<!-- gazebo_plugin -->
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<xacro:if value="${load_gazebo_plugin}">
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<xacro:include filename="$(find custom_xarm_description)/urdf/common/common.gazebo.xacro" />
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<xacro:gazebo_ros_control_plugin prefix="${prefix}" ros2_control_params="${ros2_control_params}"/>
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</xacro:if>
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<!-- add one world link if no 'attach_to' specified -->
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<xacro:if value="${attach_to == 'world'}">
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<link name="world" />
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</xacro:if>
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<joint name="${prefix}world_joint" type="fixed">
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<parent link="${attach_to}" />
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<child link = "${prefix}link_base" />
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<origin xyz="${xyz}" rpy="${rpy}" />
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</joint>
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<xacro:if value="${limited}">
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<xacro:lite6_ros2_control prefix="${prefix}"
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velocity_control="${velocity_control}"
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ros2_control_plugin="${ros2_control_plugin}"
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hw_ns="${namespace}" add_gripper="${add_gripper}"
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robot_ip="${robot_ip}" report_type="${report_type}"
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baud_checkset="${baud_checkset}" default_gripper_baud="${default_gripper_baud}"
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joint1_lower_limit="${-pi}" joint1_upper_limit="${pi}"
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joint2_lower_limit="${-2.61799}" joint2_upper_limit="${2.61799}"
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joint3_lower_limit="${-0.061087}" joint3_upper_limit="${5.235988}"
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joint4_lower_limit="${-pi}" joint4_upper_limit="${pi}"
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joint5_lower_limit="${-2.1642}" joint5_upper_limit="${2.1642}"
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joint6_lower_limit="${-pi}" joint6_upper_limit="${pi}"/>
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<xacro:lite6_urdf prefix="${prefix}"
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joint1_lower_limit="${-pi}" joint1_upper_limit="${pi}"
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joint2_lower_limit="${-2.61799}" joint2_upper_limit="${2.61799}"
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joint3_lower_limit="${-0.061087}" joint3_upper_limit="${5.235988}"
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joint4_lower_limit="${-pi}" joint4_upper_limit="${pi}"
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joint5_lower_limit="${-2.1642}" joint5_upper_limit="${2.1642}"
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joint6_lower_limit="${-pi}" joint6_upper_limit="${pi}"/>
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</xacro:if>
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<xacro:unless value="${limited}">
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<xacro:lite6_ros2_control prefix="${prefix}" velocity_control="${velocity_control}"
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ros2_control_plugin="${ros2_control_plugin}"
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hw_ns="${namespace}" add_gripper="${add_gripper}"
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robot_ip="${robot_ip}" report_type="${report_type}"
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baud_checkset="${baud_checkset}" default_gripper_baud="${default_gripper_baud}" />
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<xacro:lite6_urdf prefix="${prefix}"/>
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</xacro:unless>
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<xacro:lite6_transmission prefix="${prefix}" hard_interface="${'EffortJointInterface' if effort_control else 'VelocityJointInterface' if velocity_control else 'PositionJointInterface'}" />
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<xacro:lite6_gazebo prefix="${prefix}" />
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</xacro:macro>
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</robot>
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