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repair RefLink xacro macro implementation #261

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repair RefLink xacro macro implementation #261

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1b399b7
repair RefLink xacro macro implementation
arianwu Aug 13, 2024
06d3154
Add option to run gazebo sim with effort interface
arianwu Aug 13, 2024
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4 changes: 3 additions & 1 deletion open_manipulator_description/launch/open_manipulator_upload.launch
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Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
<launch>
<arg name="interface_type" default="position"/>

<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find open_manipulator_description)/urdf/open_manipulator_robot.urdf.xacro'"/>
command="$(find xacro)/xacro --inorder '$(find open_manipulator_description)/urdf/open_manipulator_robot.urdf.xacro' interface_type:=$(arg interface_type)"/>
</launch>
14 changes: 7 additions & 7 deletions open_manipulator_description/urdf/open_manipulator.gazebo.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -18,25 +18,25 @@
<gazebo reference="world"/>

<!-- Link1 -->
<RefLink ref="link1"/>
<xacro:RefLink ref="link1"/>

<!-- Link2 -->
<RefLink ref="link2"/>
<xacro:RefLink ref="link2"/>

<!-- Link3 -->
<RefLink ref="link3"/>
<xacro:RefLink ref="link3"/>

<!-- Link4 -->
<RefLink ref="link4"/>
<xacro:RefLink ref="link4"/>

<!-- Link5 -->
<RefLink ref="link5"/>
<xacro:RefLink ref="link5"/>

<!-- gripper_link -->
<RefLink ref="gripper_link"/>
<xacro:RefLink ref="gripper_link"/>

<!-- gripper_link_sub -->
<RefLink ref="gripper_link_sub"/>
<xacro:RefLink ref="gripper_link_sub"/>

<!-- end effector link -->
<gazebo reference="end_effector_link">
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38 changes: 30 additions & 8 deletions open_manipulator_description/urdf/open_manipulator.transmission.xacro
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Original file line number Diff line number Diff line change
@@ -1,6 +1,10 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<!-- Arg to alternate between effort/position interface -->
<xacro:arg name="interface_type" default="position"/>
<xacro:property name="interface_type" value="$(arg interface_type)"/>

<!-- Transmission macro -->
<xacro:macro name="SimpleTransmissionPosition" params="joint n">
<transmission name="tran${n}">
Expand All @@ -27,17 +31,35 @@
</transmission>
</xacro:macro>

<!-- Transmission 1 -->
<xacro:SimpleTransmissionPosition n="1" joint="joint1" />
<!-- Transmissions for Effort Interface -->
<xacro:if value="${interface_type == 'effort'}">
<!-- Transmission 1 -->
<xacro:SimpleTransmissionEffort n="1" joint="joint1" />

<!-- Transmission 2 -->
<xacro:SimpleTransmissionPosition n="2" joint="joint2" />
<!-- Transmission 2 -->
<xacro:SimpleTransmissionEffort n="2" joint="joint2" />

<!-- Transmission 3 -->
<xacro:SimpleTransmissionEffort n="3" joint="joint3" />

<!-- Transmission 4 -->
<xacro:SimpleTransmissionEffort n="4" joint="joint4" />
</xacro:if>

<!-- Transmission 3 -->
<xacro:SimpleTransmissionPosition n="3" joint="joint3" />
<!-- Transmissions for Position Interface -->
<xacro:if value="${interface_type == 'position'}">
<!-- Transmission 1 -->
<xacro:SimpleTransmissionPosition n="1" joint="joint1" />

<!-- Transmission 4 -->
<xacro:SimpleTransmissionPosition n="4" joint="joint4" />
<!-- Transmission 2 -->
<xacro:SimpleTransmissionPosition n="2" joint="joint2" />

<!-- Transmission 3 -->
<xacro:SimpleTransmissionPosition n="3" joint="joint3" />

<!-- Transmission 4 -->
<xacro:SimpleTransmissionPosition n="4" joint="joint4" />
</xacro:if>

<!-- Transmission 5 -->
<xacro:SimpleTransmissionEffort n="5" joint="gripper" />
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