rrbot.ros2_control.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:macro name="rrbot_ros2_control" params="name prefix use_mock_hardware">

    <ros2_control name="${name}" type="system">
      <xacro:unless value="${use_mock_hardware}">
        <hardware>
          <plugin>ros2_control_demo_example_10/RRBotSystemWithGPIOHardware</plugin>
          <param name="example_param_hw_start_duration_sec">0</param>
          <param name="example_param_hw_stop_duration_sec">3.0</param>
          <param name="example_param_hw_slowdown">100</param>
        </hardware>
      </xacro:unless>
      <xacro:if value="${use_mock_hardware}">
        <hardware>
          <plugin>mock_components/GenericSystem</plugin>
          <param name="calculate_dynamics">true</param>
        </hardware>
      </xacro:if>

      <joint name="${prefix}joint1">
        <command_interface name="position">
          <param name="min">-1</param>
          <param name="max">1</param>
        </command_interface>
        <state_interface name="position"/>
      </joint>
      <joint name="${prefix}joint2">
        <command_interface name="position">
          <param name="min">-1</param>
          <param name="max">1</param>
        </command_interface>
        <state_interface name="position"/>
      </joint>
      <!-- from https://github.com/ros-controls/ros2_control/blob/f58d4072dbd1c3fd4e1f64cd10a19a2b60f59049/ros2_control_test_assets/include/ros2_control_test_assets/components_urdfs.hpp#L344 -->
      <gpio name="flange_analog_IOs">
        <command_interface name="analog_output1"/>
        <state_interface name="analog_output1"/> <!-- Needed to know current state of the output -->
        <state_interface name="analog_input1"/>
        <state_interface name="analog_input2"/>
      </gpio>
      <gpio name="flange_vacuum">
        <command_interface name="vacuum"/>
        <state_interface name="vacuum">
          <param name="initial_value">1.0</param>
        </state_interface>
      </gpio>
    </ros2_control>

  </xacro:macro>

</robot>