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YusukeKatoYusukeKato
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残りのマクロのパラメータも削除
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4 files changed

+85
-248
lines changed

4 files changed

+85
-248
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‎urdf/crane_x7.gazebo.xacro

Lines changed: 21 additions & 43 deletions
Original file line numberDiff line numberDiff line change
@@ -29,111 +29,89 @@
2929
</visual>
3030
</xacro:macro>
3131

32-
<xacro:macro name="gazebo_robot_settings"
33-
params="name_link_mounting_plate
34-
name_link_base
35-
name_link_1
36-
name_link_2
37-
name_link_3
38-
name_link_4
39-
name_link_5
40-
name_link_6
41-
name_link_cover_2_l
42-
name_link_cover_2_r
43-
name_link_cover_4_l
44-
name_link_cover_4_r
45-
name_link_logo_symbol_l
46-
name_link_logo_symbol_r
47-
name_link_logo_text_l
48-
name_link_logo_text_r
49-
name_link_gripper_base
50-
name_link_gripper_finger_a
51-
name_link_gripper_finger_b
52-
config_package
53-
config_file_path
54-
">
32+
<xacro:macro name="gazebo_robot_settings">
5533

5634
<gazebo>
5735
<plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
58-
<parameters>$(find ${config_package})/${config_file_path}</parameters>
36+
<parameters>$(find ${GZ_CONTROL_CONFIG_PACKAGE})/${GZ_CONTROL_CONFIG_FILE_PATH}</parameters>
5937
</plugin>
6038
</gazebo>
6139

62-
<gazebo reference="${name_link_mounting_plate}">
40+
<gazebo reference="${NAME_LINK_MOUNTING_PLATE}">
6341
<xacro:material_gazebo_black/>
6442
</gazebo>
6543

66-
<gazebo reference="${name_link_base}">
44+
<gazebo reference="${NAME_LINK_BASE}">
6745
<xacro:material_gazebo_red/>
6846
</gazebo>
6947

70-
<gazebo reference="${name_link_1}">
48+
<gazebo reference="${NAME_LINK_1}">
7149
<xacro:material_gazebo_white/>
7250
</gazebo>
7351

74-
<gazebo reference="${name_link_2}">
52+
<gazebo reference="${NAME_LINK_2}">
7553
<xacro:material_gazebo_white/>
7654
</gazebo>
7755

78-
<gazebo reference="${name_link_3}">
56+
<gazebo reference="${NAME_LINK_3}">
7957
<xacro:material_gazebo_white/>
8058
</gazebo>
8159

82-
<gazebo reference="${name_link_4}">
60+
<gazebo reference="${NAME_LINK_4}">
8361
<xacro:material_gazebo_white/>
8462
</gazebo>
8563

86-
<gazebo reference="${name_link_5}">
64+
<gazebo reference="${NAME_LINK_5}">
8765
<xacro:material_gazebo_white/>
8866
</gazebo>
8967

90-
<gazebo reference="${name_link_6}">
68+
<gazebo reference="${NAME_LINK_6}">
9169
<xacro:material_gazebo_white/>
9270
</gazebo>
9371

94-
<gazebo reference="${name_link_cover_2_l}">
72+
<gazebo reference="${NAME_LINK_COVER_2_L}">
9573
<xacro:material_gazebo_red/>
9674
</gazebo>
9775

98-
<gazebo reference="${name_link_cover_2_r}">
76+
<gazebo reference="${NAME_LINK_COVER_2_R}">
9977
<xacro:material_gazebo_red/>
10078
</gazebo>
10179

102-
<gazebo reference="${name_link_cover_4_l}">
80+
<gazebo reference="${NAME_LINK_COVER_4_L}">
10381
<xacro:material_gazebo_red/>
10482
</gazebo>
10583

106-
<gazebo reference="${name_link_cover_4_r}">
84+
<gazebo reference="${NAME_LINK_COVER_4_R}">
10785
<xacro:material_gazebo_red/>
10886
</gazebo>
10987

110-
<gazebo reference="${name_link_logo_symbol_l}">
88+
<gazebo reference="${NAME_LINK_LOGO_SYMBOL_L}">
11189
<xacro:material_gazebo_red/>
11290
</gazebo>
11391

114-
<gazebo reference="${name_link_logo_symbol_r}">
92+
<gazebo reference="${NAME_LINK_LOGO_SYMBOL_R}">
11593
<xacro:material_gazebo_red/>
11694
</gazebo>
11795

118-
<gazebo reference="${name_link_logo_text_l}">
96+
<gazebo reference="${NAME_LINK_LOGO_TEXT_L}">
11997
<xacro:material_gazebo_black/>
12098
</gazebo>
12199

122-
<gazebo reference="${name_link_logo_text_r}">
100+
<gazebo reference="${NAME_LINK_LOGO_TEXT_R}">
123101
<xacro:material_gazebo_black/>
124102
</gazebo>
125103

126-
<gazebo reference="${name_link_gripper_base}">
104+
<gazebo reference="${NAME_LINK_GRIPPER_BASE}">
127105
<xacro:material_gazebo_red/>
128106
</gazebo>
129107

130-
<gazebo reference="${name_link_gripper_finger_a}">
108+
<gazebo reference="${NAME_LINK_GRIPPER_FINGER_A}">
131109
<mu1>0.8</mu1>
132110
<mu2>0.8</mu2>
133111
<xacro:material_gazebo_red/>
134112
</gazebo>
135113

136-
<gazebo reference="${name_link_gripper_finger_b}">
114+
<gazebo reference="${NAME_LINK_GRIPPER_FINGER_B}">
137115
<mu1>0.8</mu1>
138116
<mu2>0.8</mu2>
139117
<xacro:material_gazebo_red/>

‎urdf/crane_x7.gazebo_ros2_control.xacro

Lines changed: 28 additions & 55 deletions
Original file line numberDiff line numberDiff line change
@@ -1,122 +1,95 @@
11
<?xml version="1.0"?>
22
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
33

4-
<xacro:macro name="crane_x7_gazebo_ros2_control_settings"
5-
params="name
6-
name_joint_1
7-
name_joint_2
8-
name_joint_3
9-
name_joint_4
10-
name_joint_5
11-
name_joint_6
12-
name_joint_7
13-
name_joint_gripper_finger_a
14-
name_joint_gripper_finger_b
15-
joint_1_lower_limit
16-
joint_1_upper_limit
17-
joint_2_lower_limit
18-
joint_2_upper_limit
19-
joint_3_lower_limit
20-
joint_3_upper_limit
21-
joint_4_lower_limit
22-
joint_4_upper_limit
23-
joint_5_lower_limit
24-
joint_5_upper_limit
25-
joint_6_lower_limit
26-
joint_6_upper_limit
27-
joint_7_lower_limit
28-
joint_7_upper_limit
29-
joint_hand_lower_limit
30-
joint_hand_upper_limit
31-
">
4+
<xacro:macro name="crane_x7_gazebo_ros2_control_settings">
325

33-
<ros2_control name="${name}" type="system">
6+
<ros2_control name="crane_x7" type="system">
347
<hardware>
358
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
369
</hardware>
3710

38-
<joint name="${name_joint_1}">
11+
<joint name="${NAME_JOINT_1}">
3912
<command_interface name="position">
40-
<param name="min">${joint_1_lower_limit}</param>
41-
<param name="max">${joint_1_upper_limit}</param>
13+
<param name="min">${JOINT_1_LOWER_LIMIT}</param>
14+
<param name="max">${JOINT_1_UPPER_LIMIT}</param>
4215
</command_interface>
4316
<state_interface name="position"/>
4417
<state_interface name="velocity"/>
4518
<state_interface name="effort"/>
4619
</joint>
4720

48-
<joint name="${name_joint_2}">
21+
<joint name="${NAME_JOINT_2}">
4922
<command_interface name="position">
50-
<param name="min">${joint_2_lower_limit}</param>
51-
<param name="max">${joint_2_upper_limit}</param>
23+
<param name="min">${JOINT_2_LOWER_LIMIT}</param>
24+
<param name="max">${JOINT_2_UPPER_LIMIT}</param>
5225
</command_interface>
5326
<state_interface name="position"/>
5427
<state_interface name="velocity"/>
5528
<state_interface name="effort"/>
5629
</joint>
5730

58-
<joint name="${name_joint_3}">
31+
<joint name="${NAME_JOINT_3}">
5932
<command_interface name="position">
60-
<param name="min">${joint_3_lower_limit}</param>
61-
<param name="max">${joint_3_upper_limit}</param>
33+
<param name="min">${JOINT_3_LOWER_LIMIT}</param>
34+
<param name="max">${JOINT_3_UPPER_LIMIT}</param>
6235
</command_interface>
6336
<state_interface name="position"/>
6437
<state_interface name="velocity"/>
6538
<state_interface name="effort"/>
6639
</joint>
6740

68-
<joint name="${name_joint_4}">
41+
<joint name="${NAME_JOINT_4}">
6942
<command_interface name="position">
70-
<param name="min">${joint_4_lower_limit}</param>
71-
<param name="max">${joint_4_upper_limit}</param>
43+
<param name="min">${JOINT_4_LOWER_LIMIT}</param>
44+
<param name="max">${JOINT_4_UPPER_LIMIT}</param>
7245
</command_interface>
7346
<state_interface name="position"/>
7447
<state_interface name="velocity"/>
7548
<state_interface name="effort"/>
7649
</joint>
7750

78-
<joint name="${name_joint_5}">
51+
<joint name="${NAME_JOINT_5}">
7952
<command_interface name="position">
80-
<param name="min">${joint_5_lower_limit}</param>
81-
<param name="max">${joint_5_upper_limit}</param>
53+
<param name="min">${JOINT_5_LOWER_LIMIT}</param>
54+
<param name="max">${JOINT_5_UPPER_LIMIT}</param>
8255
</command_interface>
8356
<state_interface name="position"/>
8457
<state_interface name="velocity"/>
8558
<state_interface name="effort"/>
8659
</joint>
8760

88-
<joint name="${name_joint_6}">
61+
<joint name="${NAME_JOINT_6}">
8962
<command_interface name="position">
90-
<param name="min">${joint_6_lower_limit}</param>
91-
<param name="max">${joint_6_upper_limit}</param>
63+
<param name="min">${JOINT_6_LOWER_LIMIT}</param>
64+
<param name="max">${JOINT_6_UPPER_LIMIT}</param>
9265
</command_interface>
9366
<state_interface name="position"/>
9467
<state_interface name="velocity"/>
9568
<state_interface name="effort"/>
9669
</joint>
9770

98-
<joint name="${name_joint_7}">
71+
<joint name="${NAME_JOINT_7}">
9972
<command_interface name="position">
100-
<param name="min">${joint_7_lower_limit}</param>
101-
<param name="max">${joint_7_upper_limit}</param>
73+
<param name="min">${JOINT_7_LOWER_LIMIT}</param>
74+
<param name="max">${JOINT_7_UPPER_LIMIT}</param>
10275
</command_interface>
10376
<state_interface name="position"/>
10477
<state_interface name="velocity"/>
10578
<state_interface name="effort"/>
10679
</joint>
10780

108-
<joint name="${name_joint_gripper_finger_a}">
81+
<joint name="${NAME_JOINT_GRIPPER_FINGER_A}">
10982
<command_interface name="position">
110-
<param name="min">${joint_hand_lower_limit}</param>
111-
<param name="max">${joint_hand_upper_limit}</param>
83+
<param name="min">${JOINT_HAND_LOWER_LIMIT}</param>
84+
<param name="max">${JOINT_HAND_UPPER_LIMIT}</param>
11285
</command_interface>
11386
<state_interface name="position"/>
11487
<state_interface name="velocity"/>
11588
<state_interface name="effort"/>
11689
</joint>
11790

118-
<joint name="${name_joint_gripper_finger_b}">
119-
<param name="mimic">${name_joint_gripper_finger_a}</param>
91+
<joint name="${NAME_JOINT_GRIPPER_FINGER_B}">
92+
<param name="mimic">${NAME_JOINT_GRIPPER_FINGER_A}</param>
12093
<param name="multiplier">1</param>
12194
<state_interface name="position"/>
12295
<state_interface name="velocity"/>

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