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linter inserted a newline that made the hw interface crash
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,172 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
| <xacro:macro name="lbr_system_interface" | ||
| params="robot_name mode joint_limits system_config_path"> | ||
| <!-- load system parameters via yaml --> | ||
| <xacro:property name="system_config" | ||
| value="${xacro.load_yaml(system_config_path)}" /> | ||
|
|
||
| <ros2_control name="${robot_name}_system_interface" type="system"> | ||
| <!-- load plugin depending on mode --> | ||
| <xacro:if value="${mode == 'mock'}"> | ||
| <hardware> | ||
| <plugin>mock_components/GenericSystem</plugin> | ||
| </hardware> | ||
| </xacro:if> | ||
| <xacro:if value="${mode == 'gazebo'}"> | ||
| <hardware> | ||
| <plugin>ign_ros2_control/IgnitionSystem</plugin> | ||
| </hardware> | ||
| </xacro:if> | ||
| <xacro:if value="${mode == 'hardware'}"> | ||
| <hardware> | ||
| <plugin>lbr_ros2_control::SystemInterface</plugin> | ||
| <param name="fri_client_sdk_major_version">${system_config['hardware']['fri_client_sdk']['major_version']}</param> | ||
| <param name="fri_client_sdk_minor_version">${system_config['hardware']['fri_client_sdk']['minor_version']}</param> | ||
| <param name="client_command_mode">${system_config['hardware']['client_command_mode']}</param> | ||
| <param name="port_id">${system_config['hardware']['port_id']}</param> | ||
| <param name="remote_host">${system_config['hardware']['remote_host']}</param> | ||
| <param name="rt_prio">${system_config['hardware']['rt_prio']}</param> | ||
| <param name="joint_position_tau">${system_config['hardware']['joint_position_tau']}</param> | ||
| <param name="command_guard_variant">${system_config['hardware']['command_guard_variant']}</param> | ||
| <param name="external_torque_tau">${system_config['hardware']['external_torque_tau']}</param> | ||
| <param name="measured_torque_tau">${system_config['hardware']['measured_torque_tau']}</param> | ||
| <param name="open_loop">${system_config['hardware']['open_loop']}</param> | ||
| </hardware> | ||
| </xacro:if> | ||
|
|
||
| <!-- define lbr specific state interfaces as sensor, see | ||
| https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md --> | ||
| <xacro:if value="${mode == 'hardware'}"> | ||
| <sensor name="auxiliary_sensor"> | ||
| <!-- see KUKA::FRI::LBRState --> | ||
| <state_interface name="sample_time" /> | ||
| <state_interface name="session_state" /> | ||
| <state_interface name="connection_quality" /> | ||
| <state_interface name="safety_state" /> | ||
| <state_interface name="operation_mode" /> | ||
| <state_interface name="drive_state" /> | ||
| <state_interface name="client_command_mode" /> | ||
| <state_interface name="overlay_type" /> | ||
| <state_interface name="control_mode" /> | ||
| <state_interface name="time_stamp_sec" /> | ||
| <state_interface name="time_stamp_nano_sec" /> | ||
| <state_interface name="tracking_performance" /> | ||
| </sensor> | ||
|
|
||
| <sensor | ||
| name="estimated_ft_sensor"> | ||
| <param name="enabled">${system_config['estimated_ft_sensor']['enabled']}</param> | ||
| <param name="update_rate">${system_config['estimated_ft_sensor']['update_rate']}</param> | ||
| <param name="rt_prio">${system_config['estimated_ft_sensor']['rt_prio']}</param> | ||
| <param name="chain_root">${system_config['estimated_ft_sensor']['chain_root']}</param> | ||
| <param name="chain_tip">${system_config['estimated_ft_sensor']['chain_tip']}</param> | ||
| <param name="damping">${system_config['estimated_ft_sensor']['damping']}</param> | ||
| <param name="force_x_th">${system_config['estimated_ft_sensor']['force_x_th']}</param> | ||
| <param name="force_y_th">${system_config['estimated_ft_sensor']['force_y_th']}</param> | ||
| <param name="force_z_th">${system_config['estimated_ft_sensor']['force_z_th']}</param> | ||
| <param name="torque_x_th">${system_config['estimated_ft_sensor']['torque_x_th']}</param> | ||
| <param name="torque_y_th">${system_config['estimated_ft_sensor']['torque_y_th']}</param> | ||
| <param name="torque_z_th">${system_config['estimated_ft_sensor']['torque_z_th']}</param> | ||
| <xacro:if value="${system_config['estimated_ft_sensor']['enabled']}"> | ||
| <state_interface name="force.x" /> | ||
| <state_interface name="force.y" /> | ||
| <state_interface name="force.z" /> | ||
| <state_interface name="torque.x" /> | ||
| <state_interface name="torque.y" /> | ||
| <state_interface name="torque.z" /> | ||
| </xacro:if> | ||
| </sensor> | ||
|
|
||
| <!-- FRI Cartesian impedance control mode --> | ||
| <gpio | ||
| name="wrench"> | ||
| <command_interface name="force.x" /> | ||
| <command_interface name="force.y" /> | ||
| <command_interface name="force.z" /> | ||
| <command_interface name="torque.x" /> | ||
| <command_interface name="torque.y" /> | ||
| <command_interface name="torque.z" /> | ||
| </gpio> | ||
| </xacro:if> | ||
|
|
||
| <!-- define joints and command/state interfaces for each joint --> | ||
| <xacro:macro name="joint_interface" | ||
| params="name min_position max_position max_velocity max_torque mode"> | ||
| <joint name="${name}"> | ||
| <command_interface name="position"> | ||
| <param name="min">${min_position}</param> | ||
| <param name="max">${max_position}</param> | ||
| </command_interface> | ||
| <!-- only single command interface, refer | ||
| https://github.com/ros-controls/gz_ros2_control/issues/182 --> | ||
| <xacro:unless value="${mode == 'gazebo'}"> | ||
| <command_interface name="effort"> | ||
| <param name="min">-${max_torque}</param> | ||
| <param name="max"> ${max_torque}</param> | ||
| </command_interface> | ||
| </xacro:unless> | ||
| <state_interface name="position" /> | ||
| <state_interface name="velocity" /> | ||
| <state_interface name="effort" /> | ||
| <xacro:if value="${mode == 'hardware'}"> | ||
| <param name="min_position">${min_position}</param> | ||
| <param name="max_position">${max_position}</param> | ||
| <param name="max_velocity">${max_velocity}</param> | ||
| <param name="max_torque">${max_torque}</param> | ||
| <xacro:if | ||
| value="${system_config['hardware']['fri_client_sdk']['major_version'] == 1}"> | ||
| <state_interface name="commanded_joint_position" /> | ||
| </xacro:if> | ||
| <state_interface name="commanded_torque" /> | ||
| <state_interface name="external_torque" /> | ||
| <state_interface name="ipo_joint_position" /> | ||
| </xacro:if> | ||
| </joint> | ||
| </xacro:macro> | ||
|
|
||
| <xacro:joint_interface name="${robot_name}_A1" | ||
| min_position="${joint_limits['A1']['lower'] * PI / 180}" | ||
| max_position="${joint_limits['A1']['upper'] * PI / 180}" | ||
| max_velocity="${joint_limits['A1']['velocity'] * PI / 180}" | ||
| max_torque="${joint_limits['A1']['effort']}" | ||
| mode="${mode}" /> | ||
| <xacro:joint_interface name="${robot_name}_A2" | ||
| min_position="${joint_limits['A2']['lower'] * PI / 180}" | ||
| max_position="${joint_limits['A2']['upper'] * PI / 180}" | ||
| max_velocity="${joint_limits['A2']['velocity'] * PI / 180}" | ||
| max_torque="${joint_limits['A2']['effort']}" | ||
| mode="${mode}" /> | ||
| <xacro:joint_interface name="${robot_name}_A3" | ||
| min_position="${joint_limits['A3']['lower'] * PI / 180}" | ||
| max_position="${joint_limits['A3']['upper'] * PI / 180}" | ||
| max_velocity="${joint_limits['A3']['velocity'] * PI / 180}" | ||
| max_torque="${joint_limits['A3']['effort']}" | ||
| mode="${mode}" /> | ||
| <xacro:joint_interface name="${robot_name}_A4" | ||
| min_position="${joint_limits['A4']['lower'] * PI / 180}" | ||
| max_position="${joint_limits['A4']['upper'] * PI / 180}" | ||
| max_velocity="${joint_limits['A4']['velocity'] * PI / 180}" | ||
| max_torque="${joint_limits['A4']['effort']}" | ||
| mode="${mode}" /> | ||
| <xacro:joint_interface name="${robot_name}_A5" | ||
| min_position="${joint_limits['A5']['lower'] * PI / 180}" | ||
| max_position="${joint_limits['A5']['upper'] * PI / 180}" | ||
| max_velocity="${joint_limits['A5']['velocity'] * PI / 180}" | ||
| max_torque="${joint_limits['A5']['effort']}" | ||
| mode="${mode}" /> | ||
| <xacro:joint_interface name="${robot_name}_A6" | ||
| min_position="${joint_limits['A6']['lower'] * PI / 180}" | ||
| max_position="${joint_limits['A6']['upper'] * PI / 180}" | ||
| max_velocity="${joint_limits['A6']['velocity'] * PI / 180}" | ||
| max_torque="${joint_limits['A6']['effort']}" | ||
| mode="${mode}" /> | ||
| <xacro:joint_interface name="${robot_name}_A7" | ||
| min_position="${joint_limits['A7']['lower'] * PI / 180}" | ||
| max_position="${joint_limits['A7']['upper'] * PI / 180}" | ||
| max_velocity="${joint_limits['A7']['velocity'] * PI / 180}" | ||
| max_torque="${joint_limits['A7']['effort']}" | ||
| mode="${mode}" /> | ||
| </ros2_control> | ||
| </xacro:macro> | ||
| </robot> |
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