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// Copyright 2020 ros2_control Development Team
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef ROS2_CONTROL_TEST_ASSETS__DESCRIPTIONS_HPP_
#define ROS2_CONTROL_TEST_ASSETS__DESCRIPTIONS_HPP_
#include <string>
#include <vector>
namespace ros2_control_test_assets
{
const auto urdf_head =
R"(
<?xml version="1.0" encoding="utf-8"?>
<robot name="MinimalRobot">
<!-- Used for fixing robot -->
<link name="world"/>
<joint name="base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.2" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="joint1" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0 0 0.2"/>
<parent link="base_link"/>
<child link="link1"/>
<limit effort="0.1" lower="-3.14159265359" upper="3.14159265359" velocity="0.2"/>
</joint>
<link name="link1">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="joint2" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 0 0.9"/>
<parent link="link1"/>
<child link="link2"/>
<limit effort="0.1" lower="-3.14159265359" upper="3.14159265359" velocity="0.2"/>
<safety_controller soft_lower_limit="-1.5" soft_upper_limit="0.5" k_position="10.0" k_velocity="20.0"/>
</joint>
<link name="link2">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="joint3" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 0 0.9"/>
<parent link="link2"/>
<child link="link3"/>
<limit effort="0.1" lower="-3.14159265359" upper="3.14159265359" velocity="0.2"/>
</joint>
<link name="link3">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="tool_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 1"/>
<parent link="link2"/>
<child link="tool_link"/>
</joint>
<link name="tool_link">
</link>
)";
const auto urdf_head_revolute_missing_limits =
R"(
<?xml version="1.0" encoding="utf-8"?>
<robot name="MinimalRobot">
<!-- Used for fixing robot -->
<link name="world"/>
<joint name="base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.2" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="joint1" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0 0 0.2"/>
<parent link="base_link"/>
<child link="link1"/>
</joint>
<link name="link1">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="joint2" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 0 0.9"/>
<parent link="link1"/>
<child link="link2"/>
<limit effort="0.1" lower="-3.14159265359" upper="3.14159265359" velocity="0.2"/>
</joint>
<link name="link2">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
)";
const auto urdf_head_continuous_missing_limits =
R"(
<?xml version="1.0" encoding="utf-8"?>
<robot name="MinimalRobot">
<!-- Used for fixing robot -->
<link name="world"/>
<joint name="base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.2" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="joint1" type="continuous">
<origin rpy="-1.57079632679 0 0" xyz="0 0 0.2"/>
<parent link="base_link"/>
<child link="link1"/>
</joint>
<link name="link1">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="joint2" type="continuous">
<origin rpy="1.57079632679 0 0" xyz="0 0 0.9"/>
<parent link="link1"/>
<child link="link2"/>
</joint>
<link name="link2">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
)";
const auto urdf_head_continuous_with_limits =
R"(
<?xml version="1.0" encoding="utf-8"?>
<robot name="MinimalRobot">
<!-- Used for fixing robot -->
<link name="world"/>
<joint name="base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.2" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="joint1" type="continuous">
<origin rpy="-1.57079632679 0 0" xyz="0 0 0.2"/>
<parent link="base_link"/>
<child link="link1"/>
<limit effort="0.1" velocity="0.2"/>
</joint>
<link name="link1">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="joint2" type="continuous">
<origin rpy="1.57079632679 0 0" xyz="0 0 0.9"/>
<parent link="link1"/>
<child link="link2"/>
<limit effort="0.1" velocity="0.2"/>
</joint>
<link name="link2">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
)";
const auto urdf_head_prismatic_missing_limits =
R"(
<?xml version="1.0" encoding="utf-8"?>
<robot name="MinimalRobot">
<!-- Used for fixing robot -->
<link name="world"/>
<joint name="base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.2" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="joint1" type="prismatic">
<origin rpy="-1.57079632679 0 0" xyz="0 0 0.2"/>
<parent link="base_link"/>
<child link="link1"/>
</joint>
<link name="link1">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="joint2" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 0 0.9"/>
<parent link="link1"/>
<child link="link2"/>
<limit effort="0.1" lower="-3.14159265359" upper="3.14159265359" velocity="0.2"/>
</joint>
<link name="link2">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
)";
const auto urdf_head_mimic =
R"(
<?xml version="1.0" encoding="utf-8"?>
<robot name="MinimalRobot">
<!-- Used for fixing robot -->
<link name="world"/>
<joint name="base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.2" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="joint1" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0 0 0.2"/>
<parent link="base_link"/>
<child link="link1"/>
<limit effort="0.1" lower="-3.14159265359" upper="3.14159265359" velocity="0.2"/>
</joint>
<link name="link1">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="joint2" type="revolute">
<mimic joint="joint1" multiplier="-2" offset="0"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.9"/>
<parent link="link1"/>
<child link="link2"/>
<limit effort="0.1" lower="-3.14159265359" upper="3.14159265359" velocity="0.2"/>
</joint>
<link name="link2">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
</collision>
</link>
<joint name="tool_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 1"/>
<parent link="link2"/>
<child link="tool_link"/>
</joint>
<link name="tool_link">
</link>
)";
const auto urdf_tail =
R"(
</robot>
)";
const auto hardware_resources =
R"(
<ros2_control name="TestActuatorHardware" type="actuator">
<hardware>
<plugin>test_actuator</plugin>
</hardware>
<joint name="joint1">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<command_interface name="max_velocity" />
</joint>
</ros2_control>
<ros2_control name="TestSensorHardware" type="sensor">
<hardware>
<plugin>test_sensor</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<sensor name="sensor1">
<state_interface name="velocity"/>
</sensor>
</ros2_control>
<ros2_control name="TestSystemHardware" type="system">
<hardware>
<plugin>test_system</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint2">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<command_interface name="max_acceleration" />
</joint>
<joint name="joint3">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
<gpio name="configuration">
<command_interface name="max_tcp_jerk"/>
<state_interface name="max_tcp_jerk"/>
</gpio>
</ros2_control>
)";
const auto uninitializable_hardware_resources =
R"(
<ros2_control name="TestUninitializableActuatorHardware" type="actuator">
<hardware>
<plugin>test_uninitializable_actuator</plugin>
</hardware>
<joint name="joint1">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<command_interface name="max_velocity" />
</joint>
</ros2_control>
<ros2_control name="TestUninitializableSensorHardware" type="sensor">
<hardware>
<plugin>test_uninitializable_sensor</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<sensor name="sensor1">
<state_interface name="velocity"/>
</sensor>
</ros2_control>
<ros2_control name="TestUninitializableSystemHardware" type="system">
<hardware>
<plugin>test_uninitializable_system</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint2">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<command_interface name="max_acceleration" />
</joint>
<joint name="joint3">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
</ros2_control>
)";
const auto hardware_resources_missing_state_keys =
R"(
<ros2_control name="TestActuatorHardware" type="actuator">
<hardware>
<plugin>test_actuator</plugin>
</hardware>
<joint name="joint1">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
<ros2_control name="TestSensorHardware" type="sensor">
<hardware>
<plugin>test_sensor</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<sensor name="sensor1">
<state_interface name="velocity"/>
<state_interface name="does_not_exist"/>
</sensor>
</ros2_control>
<ros2_control name="TestSystemHardware" type="system">
<hardware>
<plugin>test_system</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint2">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="does_not_exist"/>
</joint>
<joint name="joint3">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="does_not_exist"/>
</joint>
</ros2_control>
)";
const auto hardware_resources_missing_command_keys =
R"(
<ros2_control name="TestActuatorHardware" type="actuator">
<hardware>
<plugin>test_actuator</plugin>
</hardware>
<joint name="joint1">
<command_interface name="position"/>
<command_interface name="does_not_exist"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
<ros2_control name="TestSensorHardware" type="sensor">
<hardware>
<plugin>test_sensor</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<sensor name="sensor1">
<state_interface name="velocity"/>
</sensor>
</ros2_control>
<ros2_control name="TestSystemHardware" type="system">
<hardware>
<plugin>test_system</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint2">
<command_interface name="velocity"/>
<command_interface name="does_not_exist"/>
<state_interface name="position"/>
</joint>
<joint name="joint3">
<command_interface name="velocity"/>
<command_interface name="does_not_exist"/>
<state_interface name="position"/>
</joint>
</ros2_control>
)";
const auto diffbot_urdf =
R"(
<?xml version="1.0" ?>
<robot name="robot">
<!-- Space btw top of beam and the each joint -->
<!-- Links: inertial,visual,collision -->
<link name="base_link">
<inertial>
<!-- origin is relative -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="5" ixy="0" ixz="0" iyy="5" iyz="0" izz="5"/>
</inertial>
<visual>
<geometry>
<box size="0.5 0.1 0.1"/>
</geometry>
</visual>
<collision>
<!-- origin is relative -->
<origin xyz="0 0 0"/>
<geometry>
<box size="0.5 0.1 0.1"/>
</geometry>
</collision>
</link>
<link name="base_footprint">
<visual>
<geometry>
<sphere radius="0.01"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<sphere radius="0.00000001"/>
</geometry>
</collision>
</link>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.11"/>
<child link="base_link"/>
<parent link="base_footprint"/>
</joint>
<link name="wheel_0_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.2" ixy="0" ixz="0" iyy="0.2" iyz="0" izz="0.2"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.086" radius="0.11"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.086" radius="0.11"/>
</geometry>
</collision>
</link>
<joint name="wheel_left" type="continuous">
<parent link="base_link"/>
<child link="wheel_0_link"/>
<origin rpy="-1.5707963267948966 0 0" xyz="0.3 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" velocity="1.0"/>
</joint>
<!-- Transmission is important to link the joints and the controller -->
<transmission name="wheel_left_trans" type="SimpleTransmission">
<actuator name="wheel_left_motor"/>
<joint name="wheel_left"/>
<mechanicalReduction>1</mechanicalReduction>
<motorTorqueConstant>1</motorTorqueConstant>
</transmission>
<gazebo reference="wheel_0_link">
<material>Gazebo/Red</material>
</gazebo>
<link name="wheel_1_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.2" ixy="0" ixz="0" iyy="0.2" iyz="0" izz="0.2"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.086" radius="0.11"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.086" radius="0.11"/>
</geometry>
</collision>
</link>
<joint name="wheel_right" type="continuous">
<parent link="base_link"/>
<child link="wheel_1_link"/>
<origin rpy="-1.5707963267948966 0 0" xyz="-0.2 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" velocity="1.0"/>
</joint>
<!-- Transmission is important to link the joints and the controller -->
<transmission name="wheel_right_trans" type="SimpleTransmission">
<actuator name="wheel_right_motor"/>
<joint name="wheel_right"/>
<mechanicalReduction>1</mechanicalReduction>
<motorTorqueConstant>1</motorTorqueConstant>
</transmission>
<gazebo reference="wheel_1_link">
<material>Gazebo/Red</material>
</gazebo>
<!-- Colour -->
<gazebo reference="base_link">
<material>Gazebo/Green</material>
</gazebo>
<gazebo reference="base_footprint">
<material>Gazebo/Purple</material>
</gazebo>
<ros2_control name="TestActuatorHardwareLeft" type="actuator">
<hardware>
<plugin>test_actuator</plugin>
</hardware>
<joint name="wheel_left">
<state_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
<ros2_control name="TestActuatorHardwareRight" type="actuator">
<hardware>
<plugin>test_actuator</plugin>
</hardware>
<joint name="wheel_right">
<state_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</robot>
)";
const auto gripper_urdf_head =
R"(<?xml version="1.0" ?>
<robot name="gripper">
<link name="world"/>
<link name="base">
<visual>
<geometry>
<box size="0.5 1 1"/>
</geometry>
<origin xyz="0 0 0.5"/>
<material name="violet">
<color rgba="0.4 0.18 0.57 1.0" />
</material>
</visual>
<inertial>
<mass value="50"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="finger_right">
<visual>
<geometry>
<box size="0.4 0.1 1"/>
</geometry>
<origin xyz="0 0.05 0.5"/>
<material name="grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<inertial>
<mass value="5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="finger_left">
<visual>
<geometry>
<box size="0.4 0.1 1"/>
</geometry>
<origin xyz="0 0.05 0.5"/>
<material name="grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<inertial>
<mass value="5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="world_to_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
<joint name="right_finger_joint" type="prismatic">
<axis xyz="0 1 0"/>
<origin xyz="0.0 -0.48 1" rpy="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="finger_right"/>
<limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
</joint>
<joint name="left_finger_joint" type="prismatic">
<mimic joint="right_finger_joint" multiplier="2" offset="1"/>
<axis xyz="0 1 0"/>
<origin xyz="0.0 0.48 1" rpy="0.0 0.0 3.1415926535"/>
<parent link="base"/>
<child link="finger_left"/>
<limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
</joint>
)";
const auto gripper_urdf_head_no_mimic =
R"(<?xml version="1.0" ?>
<robot name="gripper">
<link name="world"/>
<link name="base">
<visual>
<geometry>
<box size="0.5 1 1"/>
</geometry>
<origin xyz="0 0 0.5"/>
<material name="violet">
<color rgba="0.4 0.18 0.57 1.0" />
</material>
</visual>
<inertial>
<mass value="50"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="finger_right">
<visual>
<geometry>
<box size="0.4 0.1 1"/>
</geometry>
<origin xyz="0 0.05 0.5"/>
<material name="grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<inertial>
<mass value="5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="finger_left">
<visual>
<geometry>
<box size="0.4 0.1 1"/>
</geometry>
<origin xyz="0 0.05 0.5"/>
<material name="grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<inertial>
<mass value="5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="world_to_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
<joint name="right_finger_joint" type="prismatic">
<axis xyz="0 1 0"/>
<origin xyz="0.0 -0.48 1" rpy="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="finger_right"/>
<limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
</joint>
<joint name="left_finger_joint" type="prismatic">
<axis xyz="0 1 0"/>
<origin xyz="0.0 0.48 1" rpy="0.0 0.0 3.1415926535"/>
<parent link="base"/>
<child link="finger_left"/>
<limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
</joint>
)";
const auto gripper_urdf_head_unknown_joint =
R"(<?xml version="1.0" ?>
<robot name="gripper">
<link name="world"/>
<link name="base">
<visual>
<geometry>
<box size="0.5 1 1"/>
</geometry>
<origin xyz="0 0 0.5"/>
<material name="violet">
<color rgba="0.4 0.18 0.57 1.0" />
</material>
</visual>
<inertial>
<mass value="50"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="finger_right">
<visual>
<geometry>
<box size="0.4 0.1 1"/>
</geometry>
<origin xyz="0 0.05 0.5"/>
<material name="grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<inertial>
<mass value="5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="finger_left">
<visual>
<geometry>
<box size="0.4 0.1 1"/>
</geometry>
<origin xyz="0 0.05 0.5"/>
<material name="grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<inertial>
<mass value="5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="world_to_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
<joint name="right_finger_joint" type="prismatic">
<axis xyz="0 1 0"/>
<origin xyz="0.0 -0.48 1" rpy="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="finger_right"/>
<limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
</joint>
<joint name="left_finger_joint" type="prismatic">
<mimic joint="middle_finger_joint" multiplier="1" offset="0"/>
<axis xyz="0 1 0"/>
<origin xyz="0.0 0.48 1" rpy="0.0 0.0 3.1415926535"/>
<parent link="base"/>
<child link="finger_left"/>
<limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
</joint>
)";
const auto gripper_urdf_head_incomplete =
R"(<?xml version="1.0" ?>
<robot name="gripper">
<link name="world"/>
<link name="base">
<visual>
<geometry>
<box size="0.5 1 1"/>
</geometry>
<origin xyz="0 0 0.5"/>
<material name="violet">
<color rgba="0.4 0.18 0.57 1.0" />
</material>
</visual>
<inertial>
<mass value="50"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="finger_right">
<visual>
<geometry>
<box size="0.4 0.1 1"/>
</geometry>
<origin xyz="0 0.05 0.5"/>
<material name="grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<inertial>
<mass value="5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="world_to_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
<joint name="right_finger_joint" type="prismatic">
<axis xyz="0 1 0"/>
<origin xyz="0.0 -0.48 1" rpy="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="finger_right"/>
<limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
</joint>
)";
const auto gripper_urdf_head_invalid_two_root_links =
R"(<?xml version="1.0" ?>
<robot name="gripper">
<link name="world"/>
<link name="base">
<visual>
<geometry>
<box size="0.5 1 1"/>
</geometry>
<origin xyz="0 0 0.5"/>
<material name="violet">
<color rgba="0.4 0.18 0.57 1.0" />
</material>
</visual>
<inertial>
<mass value="50"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="finger_right">
<visual>
<geometry>
<box size="0.4 0.1 1"/>
</geometry>
<origin xyz="0 0.05 0.5"/>
<material name="grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<inertial>
<mass value="5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="finger_left">
<visual>
<geometry>
<box size="0.4 0.1 1"/>
</geometry>
<origin xyz="0 0.05 0.5"/>
<material name="grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<inertial>
<mass value="5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="world_to_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
<joint name="right_finger_joint" type="prismatic">
<axis xyz="0 1 0"/>
<origin xyz="0.0 -0.48 1" rpy="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="finger_right"/>
<limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
</joint>
)";
const auto gripper_hardware_resources_no_command_if =
R"(
<ros2_control name="TestGripper" type="system">
<joint name="right_finger_joint">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="left_finger_joint">
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
)";
const auto gripper_hardware_resources_mimic_true_no_command_if =
R"(
<ros2_control name="TestGripper" type="system">
<joint name="right_finger_joint">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="left_finger_joint" mimic="true">
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
)";
// TODO(christophfroehlich) delete deprecated config test
const auto gripper_hardware_resources_mimic_deprecated =
R"(
<ros2_control name="TestGripper" type="system">
<joint name="right_finger_joint">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="left_finger_joint">
<param name="mimic">right_finger_joint</param>
<param name="multiplier">2</param>
<param name="offset">1</param>
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
)";
const auto gripper_hardware_resources_mimic_deprecated_unknown_joint =
R"(
<ros2_control name="TestGripper" type="system">
<joint name="right_finger_joint">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="left_finger_joint">
<param name="mimic">middle_finger_joint</param>
<param name="multiplier">1</param>
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
)";
// end delete deprecated config test
const auto gripper_hardware_resources_mimic_true_command_if =
R"(
<ros2_control name="TestGripper" type="system">
<joint name="right_finger_joint">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="left_finger_joint" mimic="true">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
)";
const auto gripper_hardware_resources_mimic_false_command_if =
R"(
<ros2_control name="TestGripper" type="system">
<joint name="right_finger_joint">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="left_finger_joint" mimic="false">
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
)";
const auto minimal_robot_urdf =
std::string(urdf_head) + std::string(hardware_resources) + std::string(urdf_tail);
const auto minimal_uninitializable_robot_urdf =
std::string(urdf_head) + std::string(uninitializable_hardware_resources) + std::string(urdf_tail);
const auto minimal_robot_missing_state_keys_urdf =
std::string(urdf_head) + std::string(hardware_resources_missing_state_keys) +
std::string(urdf_tail);
const auto minimal_robot_missing_command_keys_urdf =
std::string(urdf_head) + std::string(hardware_resources_missing_command_keys) +
std::string(urdf_tail);
[[maybe_unused]] const std::string TEST_ACTUATOR_HARDWARE_NAME = "TestActuatorHardware";
[[maybe_unused]] const std::string TEST_ACTUATOR_HARDWARE_TYPE = "actuator";
[[maybe_unused]] const std::string TEST_ACTUATOR_HARDWARE_PLUGIN_NAME = "test_actuator";
[[maybe_unused]] const std::vector<std::string> TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES = {
"joint1/position", "joint1/max_velocity"};
[[maybe_unused]] const std::vector<std::string> TEST_ACTUATOR_HARDWARE_STATE_INTERFACES = {
"joint1/position", "joint1/velocity", "joint1/some_unlisted_interface"};
[[maybe_unused]] const std::string TEST_SENSOR_HARDWARE_NAME = "TestSensorHardware";
[[maybe_unused]] const std::string TEST_SENSOR_HARDWARE_TYPE = "sensor";
[[maybe_unused]] const std::string TEST_SENSOR_HARDWARE_PLUGIN_NAME = "test_sensor";
[[maybe_unused]] const std::vector<std::string> TEST_SENSOR_HARDWARE_COMMAND_INTERFACES = {""};
[[maybe_unused]] const std::vector<std::string> TEST_SENSOR_HARDWARE_STATE_INTERFACES = {
"sensor1/velocity"};
[[maybe_unused]] const std::string TEST_SYSTEM_HARDWARE_NAME = "TestSystemHardware";
[[maybe_unused]] const std::string TEST_SYSTEM_HARDWARE_TYPE = "system";
[[maybe_unused]] const std::string TEST_SYSTEM_HARDWARE_PLUGIN_NAME = "test_system";
[[maybe_unused]] const std::vector<std::string> TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES = {
"joint2/velocity", "joint2/max_acceleration", "joint3/velocity", "configuration/max_tcp_jerk"};
[[maybe_unused]] const std::vector<std::string> TEST_SYSTEM_HARDWARE_STATE_INTERFACES = {
"joint2/position", "joint2/velocity", "joint2/acceleration", "joint3/position",
"joint3/velocity", "joint3/acceleration", "configuration/max_tcp_jerk"};
} // namespace ros2_control_test_assets
#endif // ROS2_CONTROL_TEST_ASSETS__DESCRIPTIONS_HPP_