103 lines
4.6 KiB
XML
103 lines
4.6 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="multi_arm">
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<xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>
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<!--
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DEPRECATION NOTICE
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argument arm_id is no longer supported and will be removed in the future.
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This argument is ignored.
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-->
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<!-- Define arguments -->
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<xacro:arg name="arm_ids" default="['fr3','fr3']" />
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<xacro:property name="arm_ids_list" value="${$(arg arm_ids)}" />
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<xacro:arg name="number_of_robots" default = "2"/>
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<!-- Define arguments -->
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<xacro:arg name="xyz_values" default="['0 0.1 0','0 -0.1 0']" />
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<xacro:property name="xyz_list" value="${$(arg xyz_values)}" />
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<!-- Define arguments -->
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<xacro:arg name="rpy_values" default="['-0.7 0 0','0.7 0 0']" />
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<xacro:property name="rpy_list" value="${$(arg rpy_values)}" />
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<!-- Don't print a prefix for joints, visuals, and links? -->
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<xacro:arg name="no_prefix" default="false"/>
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<!-- Should an end-effector be mounted at the flange?" -->
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<xacro:arg name="hand" default="true" />
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<!-- Which end-effector would be mounted at the flange?" -->
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<xacro:arg name="ee_id" default="franka_hand" />
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<!-- Should self-collision be enabled? -->
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<xacro:arg name="with_sc" default="false" />
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<!-- Is the robot being controlled with ros2_control?" -->
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<xacro:arg name="ros2_control" default="false" />
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<!-- IP address or hostname of the robot" -->
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<xacro:arg name="robot_ips" default="['172.16.0.2','172.16.0.3']" />
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<xacro:property name="robot_ips_list" value="${$(arg robot_ips)}" />
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<!-- Should a fake hardware be used? -->
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<xacro:arg name="use_fake_hardware" default="false" />
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<!-- Should fake sensors be used? -->
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<xacro:arg name="fake_sensor_commands" default="false" />
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<!-- Should the robot be spawned in Gazebo?" -->
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<xacro:arg name="gazebo" default="false" />
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<!-- Should the robot be spawned in Gazebo with effort interfaces?" -->
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<xacro:arg name="gazebo_effort" default="false" />
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<!-- Prefixes for arm -->
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<!-- TODO: check if the list size is correct -->
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<xacro:arg name="arm_prefixes" default="['left','right']" />
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<xacro:property name="arm_prefixes_list" value="${$(arg arm_prefixes)}" />
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<!-- For a multi arm setup, we need a threaded robot running async-->
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<xacro:arg name="multi_arm" default="true" />
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<link name="base">
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</link>
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<!-- The multi robot setup configures 'multi_arm' by default to true s.t. it uses the async threading approach for the hardware interface -->
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<xacro:macro name="loop" params="i">
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<xacro:unless value="${i == $(arg number_of_robots)}">
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<joint name="${arm_prefixes_list[i]}_base_joint" type="fixed">
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<parent link="base"/>
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<child link="${arm_prefixes_list[i]}_base"/>
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<origin rpy="${rpy_list[i]}" xyz="${xyz_list[i]}"/>
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</joint>
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<xacro:property name="arm_id_i" value="${arm_ids_list[i]}"/>
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<xacro:arg name="inertials_path" default="$(find franka_description)/robots/${arm_id_i}/inertials.yaml"/>
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<xacro:arg name="kinematics_path" default="$(find franka_description)/robots/${arm_id_i}/kinematics.yaml"/>
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<xacro:arg name="dynamics_path" default="$(find franka_description)/robots/${arm_id_i}/dynamics.yaml"/>
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<xacro:arg name="joint_limits_path" default="$(find franka_description)/robots/${arm_id_i}/joint_limits.yaml"/>
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<xacro:franka_robot arm_id="${arm_id_i}"
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joint_limits="${xacro.load_yaml('$(arg joint_limits_path)')}"
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inertials="${xacro.load_yaml('$(arg inertials_path)')}"
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kinematics="${xacro.load_yaml('$(arg kinematics_path)')}"
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dynamics="${xacro.load_yaml('$(arg dynamics_path)')}"
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gazebo="$(arg gazebo)"
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hand="$(arg hand)"
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ee_id="$(arg ee_id)"
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with_sc="$(arg with_sc)"
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ros2_control="$(arg ros2_control)"
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robot_ip="${robot_ips_list[i]}"
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use_fake_hardware="$(arg use_fake_hardware)"
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fake_sensor_commands="$(arg fake_sensor_commands)"
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gazebo_effort="$(arg gazebo_effort)"
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no_prefix="$(arg no_prefix)"
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arm_prefix= "${arm_prefixes_list[i]}"
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connected_to="${arm_prefixes_list[i]}_base"
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multi_arm="$(arg multi_arm)">
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</xacro:franka_robot>
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<xacro:loop i="${i+1}"/>
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</xacro:unless>
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</xacro:macro>
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<xacro:loop i="0"/>
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</robot>
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