108 lines
3.4 KiB
XML
108 lines
3.4 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro">
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<xacro:macro name="aubo_robot" params="robot_model transmission_hw_interface">
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<xacro:include filename="$(find aubo_description)/urdf/${robot_model}.urdf" />
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<joint name="ee_fixed_joint" type="fixed">
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<parent link="wrist3_Link" />
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<child link ="ee_link" />
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 ${pi/2.0}" />
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</joint>
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<link name="ee_link">
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<collision>
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<geometry>
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<box size="0.01 0.01 0.01"/>
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</geometry>
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<origin rpy="0 0 0" xyz="-0.01 0 0"/>
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</collision>
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</link>
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<transmission name="shoulder_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="shoulder_joint">
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<hardwareInterface>${transmission_hw_interface}</hardwareInterface>
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</joint>
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<actuator name="shoulder_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="foreArm_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="foreArm_joint">
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<hardwareInterface>${transmission_hw_interface}</hardwareInterface>
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</joint>
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<actuator name="foreArm_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="upperArm_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="upperArm_joint">
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<hardwareInterface>${transmission_hw_interface}</hardwareInterface>
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</joint>
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<actuator name="upperArm_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="wrist1_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="wrist1_joint">
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<hardwareInterface>${transmission_hw_interface}</hardwareInterface>
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</joint>
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<actuator name="wrist1_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="wrist2_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="wrist2_joint">
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<hardwareInterface>${transmission_hw_interface}</hardwareInterface>
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</joint>
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<actuator name="wrist2_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="wrist3_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="wrist3_joint">
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<hardwareInterface>${transmission_hw_interface}</hardwareInterface>
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</joint>
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<actuator name="wrist3_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<gazebo reference="shoulder_Link">
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="upperArm_Link">
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="foreArm_Link">
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="wrist1_Link">
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="wrist2_Link">
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="wrist3_Link">
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="ee_link">
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo>
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<plugin name="ros_control" filename="libgazebo_ros_control.so"/>
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</gazebo>
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</xacro:macro>
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</robot>
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