Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Cleanup example 12 #481

Merged
merged 1 commit into from
Mar 28, 2024
Merged

Cleanup example 12 #481

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion example_12/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ install(
DESTINATION include/ros2_control_demo_example_12
)
install(
DIRECTORY description/launch description/ros2_control description/urdf description/gazebo
DIRECTORY description/launch description/ros2_control description/urdf
DESTINATION share/ros2_control_demo_example_12
)
install(
Expand Down
38 changes: 0 additions & 38 deletions example_12/description/gazebo/rrbot.gazebo.xacro
View file
Open in desktop

This file was deleted.

7 changes: 1 addition & 6 deletions example_12/description/ros2_control/rrbot.ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,19 +1,14 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="rrbot_ros2_control" params="name prefix use_gazebo_classic:=^|false">
<xacro:macro name="rrbot_ros2_control" params="name prefix">

<ros2_control name="${name}" type="system">
<hardware>
<xacro:if value="${use_gazebo_classic}">
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</xacro:if>
<xacro:unless value="${use_gazebo_classic}">
<plugin>ros2_control_demo_example_12/RRBotSystemPositionOnlyHardware</plugin>
<param name="example_param_hw_start_duration_sec">0</param>
<param name="example_param_hw_stop_duration_sec">3.0</param>
<param name="example_param_hw_slowdown">100</param>
</xacro:unless>
</hardware>

<joint name="${prefix}joint1">
Expand Down
9 changes: 1 addition & 8 deletions example_12/description/urdf/rrbot.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,6 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
<xacro:arg name="prefix" default="" />
<xacro:arg name="use_gazebo_classic" default="false" />

<!-- Import RRBot macro -->
<xacro:include filename="$(find ros2_control_demo_description)/rrbot/urdf/rrbot_description.urdf.xacro" />
Expand All @@ -25,11 +24,5 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
</xacro:rrbot>

<xacro:rrbot_ros2_control
name="RRBot" prefix="$(arg prefix)" use_gazebo_classic="$(arg use_gazebo_classic)"/>

<xacro:if value="$(arg use_gazebo_classic)">
<!-- Import Gazebo Classic definitions + plugin -->
<xacro:include filename="$(find ros2_control_demo_example_12)/gazebo/rrbot.gazebo.xacro" />
<xacro:rrbot_gazebo prefix="$(arg prefix)"/>
</xacro:if>
name="RRBot" prefix="$(arg prefix)"/>
</robot>
4 changes: 1 addition & 3 deletions example_12/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
<maintainer email="christoph.froehlich@ait.ac.at">Christoph Froehlich</maintainer>

<author email="denis.stogl@stoglrobotics.de">Dr.-Ing. Denis Štogl</author>
<author email="christoph.froehlich@ait.ac.at">Christoph Froehlich</author>
<author email="sai.kishor@pal-robotics.com">Sai Kishor Kothakota</author>

<license>Apache-2.0</license>

Expand All @@ -23,8 +23,6 @@

<exec_depend>controller_manager</exec_depend>
<exec_depend>forward_command_controller</exec_depend>
<exec_depend>gazebo_ros</exec_depend>
<exec_depend>gazebo_ros2_control</exec_depend>
<exec_depend>joint_state_broadcaster</exec_depend>
<exec_depend>joint_state_publisher_gui</exec_depend>
<exec_depend>joint_trajectory_controller</exec_depend>
Expand Down
Loading