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Add missing gpio interfaces for force_mode and freedrive_mode #251

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Merged
merged 1 commit into from
Jan 30, 2025
Merged

Add missing gpio interfaces for force_mode and freedrive_mode #251

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62 changes: 62 additions & 0 deletions urdf/ur.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -288,10 +288,72 @@
<command_interface name="zero_ftsensor_async_success"/>
</gpio>

<gpio name="${tf_prefix}freedrive_mode">
<command_interface name="async_success"/>
<command_interface name="enable"/>
<command_interface name="abort"/>
</gpio>

<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>

<gpio name="${tf_prefix}trajectory_passthrough">
<command_interface name="setpoint_positions_0"/>
<command_interface name="setpoint_positions_1"/>
<command_interface name="setpoint_positions_2"/>
<command_interface name="setpoint_positions_3"/>
<command_interface name="setpoint_positions_4"/>
<command_interface name="setpoint_positions_5"/>
<command_interface name="setpoint_velocities_0"/>
<command_interface name="setpoint_velocities_1"/>
<command_interface name="setpoint_velocities_2"/>
<command_interface name="setpoint_velocities_3"/>
<command_interface name="setpoint_velocities_4"/>
<command_interface name="setpoint_velocities_5"/>
<command_interface name="setpoint_accelerations_0"/>
<command_interface name="setpoint_accelerations_1"/>
<command_interface name="setpoint_accelerations_2"/>
<command_interface name="setpoint_accelerations_3"/>
<command_interface name="setpoint_accelerations_4"/>
<command_interface name="setpoint_accelerations_5"/>
<command_interface name="transfer_state"/>
<command_interface name="time_from_start"/>
<command_interface name="abort"/>
</gpio>

<gpio name="${tf_prefix}get_robot_software_version">
<state_interface name="get_version_major"/>
<state_interface name="get_version_minor"/>
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