xarm7_robot.urdf.xacro

<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="xarm7">
  <xacro:arg name="prefix" default=""/>
  <xacro:arg name="ros_namespace" default="xarm"/>
  <xacro:arg name="limited" default="false"/>
  <xacro:arg name="effort_control" default="false"/>
  <xacro:arg name="velocity_control" default="false"/>

  <xacro:arg name="add_other_geometry" default="false"/>
  <xacro:arg name="geometry_type" default="box"/>
  <xacro:arg name="geometry_mass" default="0.1"/>
  <xacro:arg name="geometry_height" default="0.1"/>
  <xacro:arg name="geometry_radius" default="0.1"/>
  <xacro:arg name="geometry_length" default="0.1"/>
  <xacro:arg name="geometry_width" default="0.1"/>
  <xacro:arg name="geometry_mesh_filename" default=""/>
  <xacro:arg name="geometry_mesh_origin_xyz" default="0 0 0"/>
  <xacro:arg name="geometry_mesh_origin_rpy" default="0 0 0"/>
  <xacro:arg name="geometry_mesh_tcp_xyz" default="0 0 0"/>
  <xacro:arg name="geometry_mesh_tcp_rpy" default="0 0 0"/>
  
  <xacro:arg name="add_realsense_d435i" default="false"/>

  <!-- load xarm7 robot -->
  <xacro:include filename="$(find xarm_description)/urdf/xarm7_robot_macro.xacro" />
  <xacro:xarm7_robot prefix="$(arg prefix)" namespace="$(arg ros_namespace)" limited="$(arg limited)" 
    effort_control="$(arg effort_control)" velocity_control="$(arg velocity_control)"
    rs_d435i="$(arg add_realsense_d435i)"
    add_other_geometry="$(arg add_other_geometry)" 
    geometry_type="$(arg geometry_type)" geometry_mass="$(arg geometry_mass)"
    geometry_height="$(arg geometry_height)" geometry_radius="$(arg geometry_radius)"
    geometry_length="$(arg geometry_length)" geometry_width="$(arg geometry_width)"
    geometry_mesh_filename="$(arg geometry_mesh_filename)"
    geometry_mesh_origin_xyz="$(arg geometry_mesh_origin_xyz)" geometry_mesh_origin_rpy="$(arg geometry_mesh_origin_rpy)"
    geometry_mesh_tcp_xyz="$(arg geometry_mesh_tcp_xyz)" geometry_mesh_tcp_rpy="$(arg geometry_mesh_tcp_rpy)" />

</robot>