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qlin960618
2025-02-22 22:37:34 +09:00
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robots/common/franka_arm.ros2_control.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="franka_arm_ros2_control"
params="arm_id
robot_ip
use_fake_hardware:=^|false
fake_sensor_commands:=^|false
gazebo:=^|false
hand:=^|false
gazebo_effort:=^|false
arm_prefix:=''
multi_arm:=false">
<xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
<ros2_control name="${arm_prefix_modified}FrankaHardwareInterface" type="system">
<hardware>
<param name="arm_id">${arm_id}</param>
<param name="prefix">${arm_prefix}</param>
<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:if value="${gazebo}">
<plugin>franka_ign_ros2_control/IgnitionSystem</plugin>
</xacro:if>
<xacro:if value="${use_fake_hardware == 0 and gazebo == 0 and multi_arm == 0}">
<plugin>franka_hardware/FrankaHardwareInterface</plugin>
<param name="robot_ip">${robot_ip}</param>
<param name="arm_prefix">${arm_prefix}</param>
</xacro:if>
<xacro:if value="${use_fake_hardware == 0 and gazebo == 0 and multi_arm == 1}">
<plugin>franka_hardware/MultiFrankaHardwareInterface</plugin>
<param name="robot_ip">${robot_ip}</param>
<param name="arm_prefix">${arm_prefix}</param>
</xacro:if>
</hardware>
<xacro:macro name="configure_joint" params="joint_name initial_position">
<joint name="${joint_name}">
<!--
deactivated for gazebo velocity and position interface due to a bug
https://github.com/ros-controls/gz_ros2_control/issues/343
Command Interfaces -->
<xacro:if value="${multi_arm == 0}">
<command_interface name="position"/>
<command_interface name="velocity"/>
</xacro:if>
<xacro:if value="${gazebo == 0 or gazebo_effort == 1}">
<command_interface name="effort"/>
</xacro:if>
<!-- State Interfaces -->
<state_interface name="position">
<param name="initial_value">${initial_position}</param>
</state_interface>
<state_interface name="velocity"/>
<param name="initial_value">0.0</param>
<state_interface name="effort"/>
</joint>
</xacro:macro>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint1" initial_position="0.0"/>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint2" initial_position="${-pi/4}"/>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint3" initial_position="0.0"/>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint4" initial_position="${-3*pi/4}"/>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint5" initial_position="0.0"/>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint6" initial_position="${pi/2}"/>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint7" initial_position="${pi/4}"/>
<xacro:if value="${gazebo and hand}">
<xacro:configure_joint joint_name="${arm_id}_finger_joint1" initial_position="0.0" />
</xacro:if>
</ros2_control>
<xacro:if value="${gazebo}">
<gazebo>
<plugin filename="franka_ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<parameters>$(find franka_gazebo_bringup)/config/franka_gazebo_controllers.yaml</parameters>
</plugin>
</gazebo>
</xacro:if>
</xacro:macro>
</robot>