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parametric config path for macro #416

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parametric config path for macro #416

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6 changes: 4 additions & 2 deletions lbr_ros2_control/urdf/lbr_gazebo.xacro
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Original file line number Diff line number Diff line change
@@ -1,12 +1,14 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="lbr_gazebo" params="robot_name:=^|lbr">
<xacro:macro
name="lbr_gazebo"
params="robot_name:=^|lbr controller_config_path:=^|'$(find lbr_ros2_control)/config/controllers/gazebo.yaml'">

<!-- ros_control-plugin -->
<gazebo>
<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin"
filename="gz_ros2_control-system">
<parameters>$(find lbr_ros2_control)/config/controllers/gazebo.yaml</parameters>
<parameters>${controller_config_path}</parameters>
<ros>
<namespace>/${robot_name}</namespace>
</ros>
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