134 lines
4.2 KiB
XML
134 lines
4.2 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="elfin10_gazebo"
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params="use_fake_hardware:=false
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use_real_hardware:=true">
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<gazebo>
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<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
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<robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
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<parameters>$(find elfin10_ros2_gazebo)/config/elfin_arm_controller.yaml</parameters>
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</plugin>
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</gazebo>
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<ros2_control name="GazeboSystem" type="system">
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<hardware>
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<xacro:if value="${use_real_hardware}">
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<plugin>elfin_hardware_interface/ElfinHWInterface</plugin>
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</xacro:if>
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<xacro:unless value="${use_real_hardware}">
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<xacro:if value="${use_fake_hardware}">
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<plugin>fake_components/GenericSystem</plugin>
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</xacro:if>
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<xacro:unless value="${use_fake_hardware}">
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<plugin>gazebo_ros2_control/GazeboSystem</plugin>
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</xacro:unless>
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</xacro:unless>
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</hardware>
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<joint name="elfin_joint1">
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<command_interface name="position">
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<param name="min">-3.14</param>
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<param name="max">3.14</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-1.57</param>
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<param name="max">1.57</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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<joint name="elfin_joint2">
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<command_interface name="position">
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<param name="min">-2.35</param>
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<param name="max">2.35</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-1.57</param>
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<param name="max">1.57</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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<joint name="elfin_joint3">
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<command_interface name="position">
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<param name="min">-2.61</param>
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<param name="max">2.61</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-1.57</param>
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<param name="max">1.57</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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<joint name="elfin_joint4">
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<command_interface name="position">
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<param name="min">-3.14</param>
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<param name="max">3.14</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-1.57</param>
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<param name="max">1.57</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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<joint name="elfin_joint5">
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<command_interface name="position">
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<param name="min">-2.56</param>
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<param name="max">2.56</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-1.57</param>
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<param name="max">1.57</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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<joint name="elfin_joint6">
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<command_interface name="position">
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<param name="min">-3.14</param>
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<param name="max">3.14</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-1.57</param>
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<param name="max">1.57</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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<gazebo reference="elfin_link2">
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<visual name='visual'>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</gazebo>
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<gazebo reference="elfin_link4">
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<visual name='visual'>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</gazebo>
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</xacro:macro>
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</robot> |