Commit 332a6190 authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Add directory

parent 314b1418
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="system_bolt" params="name prefix use_sim:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0">
<ros2_control name="${name}" type="system">
<xacro:if value="$(arg use_sim)">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
</xacro:if>
<xacro:unless value="$(arg use_sim)">
<hardware>
<xacro:if value="${use_fake_hardware}">
<plugin>fake_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
<plugin>ros2_hardware_interface_bolt/SystemBoltMultiInterfaceHardware</plugin>
<param name="example_param_hw_start_duration_sec">2.0</param>
<param name="example_param_hw_stop_duration_sec">3.0</param>
<param name="example_param_hw_slowdown">${slowdown}</param>
<param name="FLHAA">0</param>
<param name="FLHFE">1</param>
<param name="FLK">2</param>
<param name="FRHAA">3</param>
<param name="FRHFE">4</param>
<param name="FRK">5</param>
</xacro:unless>
</hardware>
</xacro:unless>
<joint name="FLHAA">
<command_interface name="position">
<param name="min">-0.2</param>
<param name="max">0.5</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="acceleration">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
<joint name="FLHFE">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="acceleration">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
<joint name="FLK">
<command_interface name="position">
<param name="min">-1.5</param>
<param name="max">1.5</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="acceleration">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
<joint name="FRHAA">
<command_interface name="position">
<param name="min">-0.5</param>
<param name="max">0.2</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="acceleration">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
<joint name="FRHFE">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="acceleration">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
<joint name="FRK">
<command_interface name="position">
<param name="min">-1.5</param>
<param name="max">1.5</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
</ros2_control>
</xacro:macro>
</robot>
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