.. _robco_description:

robco_description
=================

.. note::

   For a tutorial on how to create a URDF file for a specific robot configuration, please see
   :ref:`creating_a_urdf_file`.

The robco_description package provides a URDF library with xacro macros for all RobCo robot
modules. This way, any module configuration can be easily represented. For example, the following
URDF file:

.. code-block:: xml

   <robot name="robco" xmlns:xacro="http://www.ros.org/wiki/xacro">
      <xacro:include filename="$(find robco_description)/urdf/robco_modules.xacro" />
      <xacro:include filename="$(find robco_description)/urdf/robco.ros2_control.xacro" />

      <!-- Module type IDs: 304, 301, 318, 300, 300, 8, 300, 300, 800 -->
      <xacro:robco_module_0304 name="joint0" next="joint1" />
      <xacro:robco_module_0301 name="joint1" next="link0" />
      <xacro:robco_module_0318 name="link0" next="joint2" />
      <xacro:robco_module_0300 name="joint2" next="joint3" />
      <xacro:robco_module_0300 name="joint3" next="link1" />
      <xacro:robco_module_0008 name="link1" next="joint4" />
      <xacro:robco_module_0300 name="joint4" next="joint5" />
      <xacro:robco_module_0300 name="joint5" next="tool" />
      <xacro:robco_module_0800 name="tool" />
   </robot>

yields this robot configuration:

.. figure:: /_static/demo_urdf.png
   :align: center

   Demo URDF visualized in rviz2

ros2_control Support
--------------------

The ``ros2_control`` framework requires some configuration in the URDF file, defining at a minimum
which command interfaces are supported on each joint. To automatically insert these macros, the
provided ``robco_ros2_control`` macros can be used as in the following URDF:

.. code-block:: xml

   <robot name="robco" xmlns:xacro="http://www.ros.org/wiki/xacro">
      <xacro:include filename="$(find robco_description)/urdf/robco_modules.xacro" />
      <xacro:include filename="$(find robco_description)/urdf/robco.ros2_control.xacro" />

      <!-- Module type IDs: 304, 301, 318, 300, 300, 8, 300, 300, 800 -->
      <xacro:robco_module_0304 name="joint0" next="joint1" />
      <xacro:robco_module_0301 name="joint1" next="link0" />
      <xacro:robco_module_0318 name="link0" next="joint2" />
      <xacro:robco_module_0300 name="joint2" next="joint3" />
      <xacro:robco_module_0300 name="joint3" next="link1" />
      <xacro:robco_module_0008 name="link1" next="joint4" />
      <xacro:robco_module_0300 name="joint4" next="joint5" />
      <xacro:robco_module_0300 name="joint5" next="tool" />
      <xacro:robco_module_0800 name="tool" />


      <!-- ros2_control setup for joints defined above -->
      <ros2_control name="RobcoRobot" type="system">
         <hardware>
            <plugin>robco_hardware/RobcoHardware</plugin>
         </hardware>
         <xacro:robco_ros2_control_joint joint_name="joint0" />
         <xacro:robco_ros2_control_joint joint_name="joint1" />
         <xacro:robco_ros2_control_joint joint_name="joint2" />
         <xacro:robco_ros2_control_joint joint_name="joint3" />
         <xacro:robco_ros2_control_joint joint_name="joint4" />
         <xacro:robco_ros2_control_joint joint_name="joint5" />
      </ros2_control>
   </robot>