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Merged
Kuwamai merged 4 commits into from
Jul 6, 2026
Merged

不要なxacro:propertyの定義を廃止 #24

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4a92b4f
リンク名とジョイント名のproperty定義を廃止
YusukeKato Jul 3, 2026
681404d
マテリアルのproperty定義を廃止
YusukeKato Jul 3, 2026
1b2248b
引数のproperty定義を廃止
YusukeKato Jul 3, 2026
8b96d47
カメラリンク名のprefixを廃止
YusukeKato Jul 6, 2026
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46 changes: 23 additions & 23 deletions urdf/sciurus17.gazebo_ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>

<joint name="${NAME_JOINT_BODY}">
<joint name="waist_yaw_joint">
<command_interface name="position">
<param name="min">${JOINT_BODY_LOWER_LIMIT}</param>
<param name="max">${JOINT_BODY_UPPER_LIMIT}</param>
Expand All @@ -20,7 +20,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_NECK_1}">
<joint name="neck_yaw_joint">
<command_interface name="position">
<param name="min">${JOINT_NECK_1_LOWER_LIMIT}</param>
<param name="max">${JOINT_NECK_1_UPPER_LIMIT}</param>
Expand All @@ -32,7 +32,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_NECK_2}">
<joint name="neck_pitch_joint">
<command_interface name="position">
<param name="min">${JOINT_NECK_2_LOWER_LIMIT}</param>
<param name="max">${JOINT_NECK_2_UPPER_LIMIT}</param>
Expand All @@ -44,7 +44,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_1}">
<joint name="r_arm_joint1">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}</param>
Expand All @@ -56,7 +56,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_2}">
<joint name="r_arm_joint2">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}</param>
Expand All @@ -68,7 +68,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_3}">
<joint name="r_arm_joint3">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}</param>
Expand All @@ -80,7 +80,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_4}">
<joint name="r_arm_joint4">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}</param>
Expand All @@ -92,7 +92,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_5}">
<joint name="r_arm_joint5">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}</param>
Expand All @@ -104,7 +104,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_6}">
<joint name="r_arm_joint6">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}</param>
Expand All @@ -116,7 +116,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_7}">
<joint name="r_arm_joint7">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}</param>
Expand All @@ -128,7 +128,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_GRIPPER_R_A}">
<joint name="r_gripper_joint">
<command_interface name="position">
<param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}</param>
<param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}</param>
Expand All @@ -140,15 +140,15 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_GRIPPER_R_B}">
<param name="mimic">${NAME_JOINT_GRIPPER_R_A}</param>
<joint name="r_gripper_mimic_joint">
<param name="mimic">r_gripper_joint</param>
<param name="multiplier">1</param>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_1}">
<joint name="l_arm_joint1">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}</param>
Expand All @@ -160,7 +160,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_2}">
<joint name="l_arm_joint2">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}</param>
Expand All @@ -172,7 +172,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_3}">
<joint name="l_arm_joint3">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}</param>
Expand All @@ -184,7 +184,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_4}">
<joint name="l_arm_joint4">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}</param>
Expand All @@ -196,7 +196,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_5}">
<joint name="l_arm_joint5">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}</param>
Expand All @@ -208,7 +208,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_6}">
<joint name="l_arm_joint6">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}</param>
Expand All @@ -220,7 +220,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_7}">
<joint name="l_arm_joint7">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}</param>
Expand All @@ -232,7 +232,7 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_GRIPPER_L_A}">
<joint name="l_gripper_joint">
<command_interface name="position">
<param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}</param>
<param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}</param>
Expand All @@ -244,8 +244,8 @@
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_GRIPPER_L_B}">
<param name="mimic">${NAME_JOINT_GRIPPER_L_A}</param>
<joint name="l_gripper_mimic_joint">
<param name="mimic">l_gripper_joint</param>
<param name="multiplier">1</param>
<state_interface name="position"/>
<state_interface name="velocity"/>
Expand Down
57 changes: 31 additions & 26 deletions urdf/sciurus17.ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,23 +1,28 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="sciurus17_ros2_control_settings">
<xacro:macro name="sciurus17_ros2_control_settings"
params="use_mock_components:=false
port_name:=/dev/sciurus17spine
baudrate:=3000000
timeout_seconds:=1.0
manipulator_config_file_path:=''">

<ros2_control name="sciurus17" type="system">
<hardware>
<xacro:if value="${USE_MOCK_COMPONENTS}">
<xacro:if value="${use_mock_components}">
<plugin>mock_components/GenericSystem</plugin>
</xacro:if>
<xacro:unless value="${USE_MOCK_COMPONENTS}">
<xacro:unless value="${use_mock_components}">
<plugin>sciurus17_hardware/Sciurus17Hardware</plugin>
<param name="port_name">${PORT_NAME}</param>
<param name="baudrate">${BAUDRATE}</param>
<param name="timeout_seconds">${TIMEOUT_SECONDS}</param>
<param name="manipulator_config_file_path">${MANIPULATOR_CONFIG_FILE_PATH}</param>
<param name="port_name">${port_name}</param>
<param name="baudrate">${baudrate}</param>
<param name="timeout_seconds">${timeout_seconds}</param>
<param name="manipulator_config_file_path">${manipulator_config_file_path}</param>
</xacro:unless>
</hardware>

<joint name="${NAME_JOINT_BODY}">
<joint name="waist_yaw_joint">
<command_interface name="position">
<param name="min">${JOINT_BODY_LOWER_LIMIT}</param>
<param name="max">${JOINT_BODY_UPPER_LIMIT}</param>
Expand All @@ -28,7 +33,7 @@
<param name="current_to_effort">3.60</param>
</joint>

<joint name="${NAME_JOINT_NECK_1}">
<joint name="neck_yaw_joint">
<command_interface name="position">
<param name="min">${JOINT_NECK_1_LOWER_LIMIT}</param>
<param name="max">${JOINT_NECK_1_UPPER_LIMIT}</param>
Expand All @@ -39,7 +44,7 @@
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_NECK_2}">
<joint name="neck_pitch_joint">
<command_interface name="position">
<param name="min">${JOINT_NECK_2_LOWER_LIMIT}</param>
<param name="max">${JOINT_NECK_2_UPPER_LIMIT}</param>
Expand All @@ -50,7 +55,7 @@
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_1}">
<joint name="r_arm_joint1">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}</param>
Expand All @@ -61,7 +66,7 @@
<param name="current_to_effort">3.60</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_2}">
<joint name="r_arm_joint2">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}</param>
Expand All @@ -72,7 +77,7 @@
<param name="current_to_effort">3.60</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_3}">
<joint name="r_arm_joint3">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}</param>
Expand All @@ -83,7 +88,7 @@
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_4}">
<joint name="r_arm_joint4">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}</param>
Expand All @@ -94,7 +99,7 @@
<param name="current_to_effort">2.00</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_5}">
<joint name="r_arm_joint5">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}</param>
Expand All @@ -105,7 +110,7 @@
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_6}">
<joint name="r_arm_joint6">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}</param>
Expand All @@ -116,7 +121,7 @@
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_7}">
<joint name="r_arm_joint7">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}</param>
Expand All @@ -127,7 +132,7 @@
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_GRIPPER_R_A}">
<joint name="r_gripper_joint">
<command_interface name="position">
<param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}</param>
<param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}</param>
Expand All @@ -138,7 +143,7 @@
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_1}">
<joint name="l_arm_joint1">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}</param>
Expand All @@ -149,7 +154,7 @@
<param name="current_to_effort">3.60</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_2}">
<joint name="l_arm_joint2">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}</param>
Expand All @@ -160,7 +165,7 @@
<param name="current_to_effort">3.60</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_3}">
<joint name="l_arm_joint3">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}</param>
Expand All @@ -171,7 +176,7 @@
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_4}">
<joint name="l_arm_joint4">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}</param>
Expand All @@ -182,7 +187,7 @@
<param name="current_to_effort">2.00</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_5}">
<joint name="l_arm_joint5">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}</param>
Expand All @@ -193,7 +198,7 @@
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_6}">
<joint name="l_arm_joint6">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}</param>
Expand All @@ -204,7 +209,7 @@
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_7}">
<joint name="l_arm_joint7">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}</param>
<param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}</param>
Expand All @@ -215,7 +220,7 @@
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_GRIPPER_L_A}">
<joint name="l_gripper_joint">
<command_interface name="position">
<param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}</param>
<param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}</param>
Expand Down
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