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Felix Exner
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Remove ros2_control tag from package
There definitively is a need for using the robot description without the ros2_control tag in general e.g. when simply viewing the robot model. This commit removes the dependency to the ros2_control tag from the macro instantiating a robot and adds new files describing the control mechanisms of the individual joints and sensors. These files can be included in ros2_control files setting up a specific control structure (e.g. hardware driver, mock hardware, gazebo).
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5 files changed

+147
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‎urdf/inc/ur_joint_control.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro">
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<xacro:macro name="ur_joint_control_description" params="
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tf_prefix
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initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
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">
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<joint name="${tf_prefix}shoulder_pan_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-3.15</param>
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<param name="max">3.15</param>
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</command_interface>
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<state_interface name="position">
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<!-- initial position for the mock system and simulation -->
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<param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
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</state_interface>
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<state_interface name="velocity">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="effort">
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<param name="initial_value">0.0</param>
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</state_interface>
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</joint>
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<joint name="${tf_prefix}shoulder_lift_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-3.15</param>
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<param name="max">3.15</param>
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</command_interface>
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<state_interface name="position">
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<!-- initial position for the mock system and simulation -->
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<param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
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</state_interface>
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<state_interface name="velocity">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="effort">
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<param name="initial_value">0.0</param>
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</state_interface>
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</joint>
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<joint name="${tf_prefix}elbow_joint">
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<command_interface name="position">
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<param name="min">{-pi}</param>
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<param name="max">{pi}</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-3.15</param>
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<param name="max">3.15</param>
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</command_interface>
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<state_interface name="position">
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<!-- initial position for the mock system and simulation -->
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<param name="initial_value">${initial_positions['elbow_joint']}</param>
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</state_interface>
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<state_interface name="velocity">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="effort">
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<param name="initial_value">0.0</param>
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</state_interface>
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</joint>
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<joint name="${tf_prefix}wrist_1_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-3.2</param>
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<param name="max">3.2</param>
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</command_interface>
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<state_interface name="position">
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<!-- initial position for the mock system and simulation -->
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<param name="initial_value">${initial_positions['wrist_1_joint']}</param>
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</state_interface>
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<state_interface name="velocity">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="effort">
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<param name="initial_value">0.0</param>
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</state_interface>
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</joint>
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<joint name="${tf_prefix}wrist_2_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-3.2</param>
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<param name="max">3.2</param>
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</command_interface>
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<state_interface name="position">
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<!-- initial position for the mock system and simulation -->
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<param name="initial_value">${initial_positions['wrist_2_joint']}</param>
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</state_interface>
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<state_interface name="velocity">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="effort">
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<param name="initial_value">0.0</param>
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</state_interface>
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</joint>
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<joint name="${tf_prefix}wrist_3_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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</command_interface>
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<command_interface name="velocity">
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<param name="min">-3.2</param>
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<param name="max">3.2</param>
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</command_interface>
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<state_interface name="position">
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<!-- initial position for the mock system and simulation -->
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<param name="initial_value">${initial_positions['wrist_3_joint']}</param>
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</state_interface>
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<state_interface name="velocity">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="effort">
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<param name="initial_value">0.0</param>
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</state_interface>
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</joint>
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</xacro:macro>
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</robot>

‎urdf/inc/ur_sensors.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="ur_sensors" params="tf_prefix">
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<sensor name="${tf_prefix}tcp_fts_sensor">
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<state_interface name="force.x"/>
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<state_interface name="force.y"/>
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<state_interface name="force.z"/>
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<state_interface name="torque.x"/>
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<state_interface name="torque.y"/>
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<state_interface name="torque.z"/>
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</sensor>
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</xacro:macro>
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</robot>

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