93 lines
3.5 KiB
XML
93 lines
3.5 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="aubo_ros2_control" params="name prefix use_fake_hardware:=false robot_ip">
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<ros2_control name="${name}" type="system">
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<hardware>
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<!-- ros2_control simulation -->
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<!-- xacro:if value="${use_fake_hardware}">
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<plugin>fake_components/GenericSystem</plugin>
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<param name="fake_sensor_commands">false</param>
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<param name="state_following_offset">0.0</param>
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</xacro:if -->
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<!-- physical hardware or RobotStudio simulation -->
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<!-- xacro:unless value="${use_fake_hardware}" -->
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<plugin>aubo_driver/AuboHardwareInterface</plugin>
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<param name="robot_ip">${robot_ip}</param>
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<!-- The following parameter is used for non-MultiMove only -->
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<!-- The following parameters are used for the MultiMove example only -->
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<!-- <param name="rob1egm_port">6511</param> -->
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<!-- <param name="extaxegm_port">6512</param> -->
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<!-- /xacro:unless -->
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</hardware>
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<joint name="shoulder_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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</command_interface>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="upperArm_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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</command_interface>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="foreArm_joint">
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<command_interface name="position">
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<param name="min">-2.41</param>
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<param name="max">2.41</param>
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</command_interface>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="wrist1_joint">
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<command_interface name="position">
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<param name="min">-2.66</param>
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<param name="max">2.66</param>
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</command_interface>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="wrist2_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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</command_interface>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="wrist3_joint">
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<command_interface name="position">
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<param name="min">-2.23</param>
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<param name="max">2.23</param>
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</command_interface>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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</xacro:macro>
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</robot>
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