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Add required command interfaces to xacro
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@fmauch
fmauch committed Oct 16, 2024
1 parent 577e9fc commit 5b07594
Showing 1 changed file with 32 additions and 0 deletions.
32 changes: 32 additions & 0 deletions ur_robot_driver/urdf/ur.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -228,6 +228,38 @@
<gpio name="${tf_prefix}system_interface">
<state_interface name="initialized"/>
</gpio>

<gpio name="${tf_prefix}force_mode">
<command_interface name="task_frame_x"/>
<command_interface name="task_frame_y"/>
<command_interface name="task_frame_z"/>
<command_interface name="task_frame_rx"/>
<command_interface name="task_frame_ry"/>
<command_interface name="task_frame_rz"/>
<command_interface name="selection_vector_x"/>
<command_interface name="selection_vector_y"/>
<command_interface name="selection_vector_z"/>
<command_interface name="selection_vector_rx"/>
<command_interface name="selection_vector_ry"/>
<command_interface name="selection_vector_rz"/>
<command_interface name="wrench_x"/>
<command_interface name="wrench_y"/>
<command_interface name="wrench_z"/>
<command_interface name="wrench_rx"/>
<command_interface name="wrench_ry"/>
<command_interface name="wrench_rz"/>
<command_interface name="limits_x"/>
<command_interface name="limits_y"/>
<command_interface name="limits_z"/>
<command_interface name="limits_rx"/>
<command_interface name="limits_ry"/>
<command_interface name="limits_rz"/>
<command_interface name="type"/>
<command_interface name="damping"/>
<command_interface name="gain_scaling"/>
<command_interface name="disable_cmd"/>
<command_interface name="force_mode_async_success"/>
</gpio>
</ros2_control>
</xacro:macro>
</robot>

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