89 lines
3.9 KiB
XML
89 lines
3.9 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="franka_arm_ros2_control"
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params="arm_id
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robot_ip
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use_fake_hardware:=^|false
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fake_sensor_commands:=^|false
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gazebo:=^|false
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hand:=^|false
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gazebo_effort:=^|false
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arm_prefix:=''
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multi_arm:=false">
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<xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
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<ros2_control name="${arm_prefix_modified}FrankaHardwareInterface" type="system">
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<hardware>
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<param name="arm_id">${arm_id}</param>
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<param name="prefix">${arm_prefix}</param>
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<xacro:if value="${use_fake_hardware}">
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<plugin>fake_components/GenericSystem</plugin>
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<param name="fake_sensor_commands">${fake_sensor_commands}</param>
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<param name="state_following_offset">0.0</param>
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</xacro:if>
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<xacro:if value="${gazebo}">
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<plugin>franka_ign_ros2_control/IgnitionSystem</plugin>
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</xacro:if>
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<xacro:if value="${use_fake_hardware == 0 and gazebo == 0 and multi_arm == 0}">
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<plugin>franka_hardware/FrankaHardwareInterface</plugin>
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<param name="robot_ip">${robot_ip}</param>
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<param name="arm_prefix">${arm_prefix}</param>
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</xacro:if>
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<xacro:if value="${use_fake_hardware == 0 and gazebo == 0 and multi_arm == 1}">
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<plugin>franka_hardware/MultiFrankaHardwareInterface</plugin>
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<param name="robot_ip">${robot_ip}</param>
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<param name="arm_prefix">${arm_prefix}</param>
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</xacro:if>
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</hardware>
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<xacro:macro name="configure_joint" params="joint_name initial_position">
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<joint name="${joint_name}">
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<!--
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deactivated for gazebo velocity and position interface due to a bug
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https://github.com/ros-controls/gz_ros2_control/issues/343
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Command Interfaces -->
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<xacro:if value="${multi_arm == 0}">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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</xacro:if>
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<xacro:if value="${gazebo == 0 or gazebo_effort == 1}">
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<command_interface name="effort"/>
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</xacro:if>
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<!-- State Interfaces -->
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<state_interface name="position">
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<param name="initial_value">${initial_position}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<param name="initial_value">0.0</param>
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<state_interface name="effort"/>
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</joint>
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</xacro:macro>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint1" initial_position="0.0"/>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint2" initial_position="${-pi/4}"/>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint3" initial_position="0.0"/>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint4" initial_position="${-3*pi/4}"/>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint5" initial_position="0.0"/>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint6" initial_position="${pi/2}"/>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint7" initial_position="${pi/4}"/>
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<xacro:if value="${gazebo and hand}">
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<xacro:configure_joint joint_name="${arm_id}_finger_joint1" initial_position="0.0" />
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</xacro:if>
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</ros2_control>
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<xacro:if value="${gazebo}">
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<gazebo>
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<plugin filename="franka_ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
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<parameters>$(find franka_gazebo_bringup)/config/franka_gazebo_controllers.yaml</parameters>
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</plugin>
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</gazebo>
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</xacro:if>
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</xacro:macro>
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</robot>
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