scara_tutorial_ros2/scara_description/ros2_control/scara.ros2_control.urdf at main · yguel/scara_tutorial_ros2 · GitHub

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<?xml version="1.0"?>
<robot name="scara" xmlns:xacro="http://www.ros.org/wiki/xacro">

    <ros2_control name="scara" type="system">

        <hardware>
            <plugin>mock_components/GenericSystem</plugin>
            <!-- <plugin>scara_hardware/ScaraRobot</plugin> -->
            <!-- <plugin>gazebo_ros2_control/GazeboSystem</plugin> -->
        </hardware>

        <joint name="joint1">
            <command_interface name="position" />
            <state_interface name="position">
                <param name="initial_value">0.0</param>
                <param name="min">-1.57</param>
                <param name="max">1.57</param>
            </state_interface>
            <state_interface name="velocity">
                <param name="initial_value">0.0</param>
            </state_interface>
        </joint>
        <joint name="joint2">
            <command_interface name="position" />
            <state_interface name="position">
                <param name="initial_value">0.5</param>
                <param name="min">-1.57</param>
                <param name="max">1.57</param>
            </state_interface>
            <state_interface name="velocity">
                <param name="initial_value">0.0</param>
            </state_interface>
        </joint>
        <joint name="joint3">
            <command_interface name="position" />
            <state_interface name="position">
                <param name="initial_value">0.0</param>
                <param name="min">0</param>
                <param name="max">0.3</param>
            </state_interface>
            <state_interface name="velocity">
                <param name="initial_value">0.0</param>
            </state_interface>
        </joint>
    </ros2_control>

</robot>