From bacf74c77bbf67e9a2800f3974e0a1b4319da6c9 Mon Sep 17 00:00:00 2001
From: Bartek <bartlomiejk@vp.pl>
Date: Tue, 10 Sep 2024 19:49:22 +0200
Subject: [PATCH] Added ros2_control macro for joints

---
 .../ros2_control_joint_macros.urdf.xacro      | 27 +++++++++++++++++++
 1 file changed, 27 insertions(+)
 create mode 100644 src/meldog_simple_description/description/ros2_control/ros2_control_joint_macros.urdf.xacro

diff --git a/src/meldog_simple_description/description/ros2_control/ros2_control_joint_macros.urdf.xacro b/src/meldog_simple_description/description/ros2_control/ros2_control_joint_macros.urdf.xacro
new file mode 100644
index 0000000..8263dbd
--- /dev/null
+++ b/src/meldog_simple_description/description/ros2_control/ros2_control_joint_macros.urdf.xacro
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name ="meldog_ros2_control_joint_macros">
+
+    <xacro:include filename="actuator/actuator_macros.urdf.xacro"/>
+
+    <xacro:macro name="ros2_control_joint" params="joint_name upper lower"/>
+        <joint name="${joint_name}_joint">
+            <command_interface name="position">
+                <param name="min">${lower}</param>
+                <param name="max">${upper}</param>
+            </command_interface>
+            <command_interface name="velocity">
+                <param name="min">-${actuator_max_velocity}</param>
+                <param name="max">${actuator_max_velocity}</param>
+            </command_interface>
+            <xacro:if value="$(arg use_gazebo)">
+                <command_interface name="effort"/>
+                    <param name="min">-${actuator_max_torque}</param>
+                    <param name="max">${actuator_max_torque}</param>
+            </xacro:if>                
+            <state_interface name="position"/>
+            <state_interface name="velocity"/>
+            <state_interface name="effort"/>
+        </joint>
+    </xacro:macro>
+
+</robot>
\ No newline at end of file