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hexapod_robot
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ROS Components for hexapod_robot
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hexapod_robot/description/urdf/hexapod_robot_ros2_control....

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  1. <?xml version="1.0"?>

  2. <robot xmlns:xacro="http://www.ros.org/wiki/xacro">

  3. 

  4.     <xacro:macro name="create_leg_joints" params="number">

  5. 

  6.         <joint name="c${number}_joint">

  7.             <command_interface name="position">

  8.                 <param name="min">-1</param>

  9.                 <param name="max">1</param>

  10.             </command_interface>

  11.             <state_interface name="position"/>

  12.         </joint>

  13. 

  14.         <joint name="f${number}_joint">

  15.             <command_interface name="position">

  16.                 <param name="min">-1</param>

  17.                 <param name="max">1</param>

  18.             </command_interface>

  19.             <state_interface name="position"/>

  20.         </joint>

  21.         <joint name="t${number}_joint">

  22.             <command_interface name="position">

  23.                 <param name="min">-1</param>

  24.                 <param name="max">1</param>

  25.             </command_interface>

  26.             <state_interface name="position"/>

  27.         </joint>

  28.     </xacro:macro>

  29. 

  30.     <xacro:macro name="map_joint_name_to_hardware" params="name i2c_address channel counts_intersect counts_slope counts_min counts_max">

  31.         <param name="${name}_joint_i2c_address">${i2c_address}</param>

  32.         <param name="${name}_joint_channel">${channel}</param>

  33.         <param name="${name}_joint_counts_intersect">${counts_intersect}</param>

  34.         <param name="${name}_joint_counts_slope">${counts_slope}</param>

  35.         <param name="${name}_joint_counts_min">${counts_min}</param>

  36.         <param name="${name}_joint_counts_max">${counts_max}</param>

  37.     </xacro:macro>

  38. 

  39.     <ros2_control name="Hexapod" type="system">

  40.         

  41.         <hardware>

  42.             <plugin>hexapod_robot/HexapodRobotHardwareInterface</plugin>

  43.             <param name="i2c_device">/dev/i2c-1</param>

  44.             <xacro:map_joint_name_to_hardware name="c1" i2c_address="0x40" channel="13" counts_intersect="386" counts_slope="129" counts_min="125" counts_max="550"/>

  45.             <xacro:map_joint_name_to_hardware name="f1" i2c_address="0x40" channel="14" counts_intersect="307" counts_slope="129" counts_min="125" counts_max="550"/>

  46.             <xacro:map_joint_name_to_hardware name="t1" i2c_address="0x40" channel="15" counts_intersect="189" counts_slope="129" counts_min="125" counts_max="550"/>

  47. 

  48.             <xacro:map_joint_name_to_hardware name="c2" i2c_address="0x40" channel="9"  counts_intersect="327" counts_slope="129" counts_min="125" counts_max="550"/>

  49.             <xacro:map_joint_name_to_hardware name="f2" i2c_address="0x40" channel="10" counts_intersect="317" counts_slope="129" counts_min="125" counts_max="550"/>

  50.             <xacro:map_joint_name_to_hardware name="t2" i2c_address="0x40" channel="11" counts_intersect="227" counts_slope="129" counts_min="125" counts_max="550"/>

  51.             

  52.             <xacro:map_joint_name_to_hardware name="c3" i2c_address="0x40" channel="2"  counts_intersect="237" counts_slope="129" counts_min="125" counts_max="550"/>

  53.             <xacro:map_joint_name_to_hardware name="f3" i2c_address="0x40" channel="1"  counts_intersect="307" counts_slope="129" counts_min="125" counts_max="550"/>

  54.             <xacro:map_joint_name_to_hardware name="t3" i2c_address="0x40" channel="0"  counts_intersect="267" counts_slope="129" counts_min="125" counts_max="550"/>

  55.             

  56.             <xacro:map_joint_name_to_hardware name="c4" i2c_address="0x41" channel="13" counts_intersect="451" counts_slope="129" counts_min="125" counts_max="550"/>

  57.             <xacro:map_joint_name_to_hardware name="f4" i2c_address="0x41" channel="14" counts_intersect="367" counts_slope="129" counts_min="125" counts_max="550"/>

  58.             <xacro:map_joint_name_to_hardware name="t4" i2c_address="0x41" channel="15" counts_intersect="487" counts_slope="129" counts_min="125" counts_max="550"/>

  59.             

  60.             <xacro:map_joint_name_to_hardware name="c5" i2c_address="0x41" channel="6"  counts_intersect="357" counts_slope="129" counts_min="125" counts_max="550"/>

  61.             <xacro:map_joint_name_to_hardware name="f5" i2c_address="0x41" channel="5"  counts_intersect="367" counts_slope="129" counts_min="125" counts_max="550"/>

  62.             <xacro:map_joint_name_to_hardware name="t5" i2c_address="0x41" channel="4"  counts_intersect="437" counts_slope="129" counts_min="125" counts_max="550"/>

  63.             

  64.             <xacro:map_joint_name_to_hardware name="c6" i2c_address="0x41" channel="2"  counts_intersect="255" counts_slope="129" counts_min="125" counts_max="550"/>

  65.             <xacro:map_joint_name_to_hardware name="f6" i2c_address="0x41" channel="1"  counts_intersect="335" counts_slope="129" counts_min="125" counts_max="550"/>

  66.             <xacro:map_joint_name_to_hardware name="t6" i2c_address="0x41" channel="0"  counts_intersect="444" counts_slope="129" counts_min="125" counts_max="550"/>

  67.         </hardware>

  68. 

  69.         <xacro:create_leg_joints number="1"/>    

  70.         <xacro:create_leg_joints number="2"/>    

  71.         <xacro:create_leg_joints number="3"/>    

  72.         <xacro:create_leg_joints number="4"/>    

  73.         <xacro:create_leg_joints number="5"/>    

  74.         <xacro:create_leg_joints number="6"/>    

  75. 

  76.     </ros2_control>

  77. </robot>