35 lines
1011 B
XML
35 lines
1011 B
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="toid_control" params="name:=toid_control use_mock_hardware:=^|true">
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<ros2_control name="${name}" type="system">
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<xacro:unless value="${use_mock_hardware}">
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<hardware>
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<!-- plugin would eventually go here-->
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</hardware>
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</xacro:unless>
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<xacro:if value="${use_mock_hardware}">
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<hardware>
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<plugin>mock_components/GenericSystem</plugin>
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<param name="calculate_dynamics">true</param>
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</hardware>
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</xacro:if>
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<joint name="drivewhl_l_joint">
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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<joint name="drivewhl_r_joint">
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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</xacro:macro>
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</robot> |