101 lines
4.2 KiB
XML
101 lines
4.2 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
|
|
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="xarm$(arg dof)">
|
|
<!-- <robot xmlns:xacro="http://ros.org/wiki/xacro" name="lite6"> -->
|
|
<xacro:arg name="prefix" default=""/>
|
|
<xacro:arg name="hw_ns" default="xarm"/>
|
|
<xacro:arg name="limited" default="false"/>
|
|
<xacro:arg name="effort_control" default="false"/>
|
|
<xacro:arg name="velocity_control" default="false"/>
|
|
<xacro:arg name="add_gripper" default="false"/>
|
|
<xacro:arg name="add_vacuum_gripper" default="false"/>
|
|
<xacro:arg name="dof" default="6"/>
|
|
<xacro:arg name="robot_type" default="lite"/>
|
|
<xacro:arg name="ros2_control_plugin" default="uf_robot_hardware/UFRobotSystemHardware"/>
|
|
<xacro:arg name="ros2_control_params" default="$(find xarm_controller)/config/xarm$(arg dof)_controllers.yaml"/>
|
|
|
|
<xacro:arg name="add_other_geometry" default="false"/>
|
|
<xacro:arg name="geometry_type" default="box"/>
|
|
<xacro:arg name="geometry_mass" default="0.1"/>
|
|
<xacro:arg name="geometry_height" default="0.1"/>
|
|
<xacro:arg name="geometry_radius" default="0.1"/>
|
|
<xacro:arg name="geometry_length" default="0.1"/>
|
|
<xacro:arg name="geometry_width" default="0.1"/>
|
|
<xacro:arg name="geometry_mesh_filename" default=""/>
|
|
<xacro:arg name="geometry_mesh_origin_xyz" default="0 0 0"/>
|
|
<xacro:arg name="geometry_mesh_origin_rpy" default="0 0 0"/>
|
|
<xacro:arg name="geometry_mesh_tcp_xyz" default="0 0 0"/>
|
|
<xacro:arg name="geometry_mesh_tcp_rpy" default="0 0 0"/>
|
|
|
|
<xacro:arg name="robot_ip" default=""/>
|
|
<xacro:arg name="report_type" default="normal"/>
|
|
<xacro:arg name="baud_checkset" default="true"/>
|
|
<xacro:arg name="default_gripper_baud" default="2000000"/>
|
|
|
|
<!-- gazebo_plugin -->
|
|
<xacro:include filename="$(find xarm_description)/urdf/common/common.gazebo.xacro" />
|
|
<xacro:gazebo_ros_control_plugin ros2_control_params="$(arg ros2_control_params)"/>
|
|
|
|
<!-- load xarm device -->
|
|
<!-- Load Lite6 Robot Model URDF -->
|
|
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6_robot_macro.xacro" />
|
|
<xacro:lite6_robot prefix="$(arg prefix)" namespace="xarm" limited="$(arg limited)"
|
|
effort_control="$(arg effort_control)" velocity_control="$(arg velocity_control)"
|
|
ros2_control_plugin="$(arg ros2_control_plugin)"
|
|
attach_to="world" xyz="0 0 0" rpy="0 0 0"
|
|
ros2_control_params="$(arg ros2_control_params)"
|
|
load_gazebo_plugin="false"
|
|
add_gripper="$(arg add_gripper)"
|
|
robot_ip="$(arg robot_ip)"
|
|
report_type="$(arg report_type)"
|
|
baud_checkset="$(arg baud_checkset)"
|
|
default_gripper_baud="$(arg default_gripper_baud)" />
|
|
|
|
<joint name="eef_joint" type="fixed">
|
|
<parent link="link_eef"/>
|
|
<child link="pen_link"/>
|
|
</joint>
|
|
<link name="pen_link">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.005" length="0.2"/>
|
|
</geometry>
|
|
<material name="Cyan">
|
|
<color rgba="0.0 1.0 1.0 1.0"/>
|
|
</material>
|
|
</visual>
|
|
|
|
<collision>
|
|
<geometry>
|
|
<box size="0 0 0"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<!-- https://github.com/ros-simulation/gazebo_ros_pkgs/blob/foxy/gazebo_plugins/src/gazebo_ros_p3d.cpp -->
|
|
<gazebo>
|
|
<plugin name="pen_position" filename="libgazebo_ros_p3d.so">
|
|
<!-- <alwaysOn>true</alwaysOn> -->
|
|
<ros>
|
|
<remapping>odom:=pen_position</remapping>
|
|
</ros>
|
|
<frame_name>world</frame_name>
|
|
<!-- <body_name>pen_link</body_name> -->
|
|
<body_name>link6</body_name>
|
|
<!-- topic name is always /odom -->
|
|
<!-- <topic_name>pen_position</topic_name> -->
|
|
<!-- Update rate in Hz -->
|
|
<update_rate>10</update_rate>
|
|
<!-- <xyzOffsets>0 0 0</xyzOffsets> -->
|
|
<!-- <rpyOffsets>0 0 0</rpyOffsets> -->
|
|
</plugin>
|
|
</gazebo>
|
|
|
|
</robot>
|
|
<!-- <robot name="lite6_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:xi="http://www.w3.org/2001/XInclude">
|
|
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.urdf.xacro"/>
|
|
<xacro:lite6_urdf prefix=''/> -->
|
|
|
|
<!--
|
|
</robot> -->
|