descriptions.hpp

// 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>
 
namespace ros2_control_test_assets
{
const auto urdf_head =
  R"(
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from minimal_robot.urdf.xacro       | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<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"/>
  </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"/>
    </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"/>
    </joint>
    <joint name="joint3">
      <command_interface name="velocity"/>
      <state_interface name="position"/>
    </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 minimal_robot_urdf =
  std::string(urdf_head) + std::string(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);
}  // namespace ros2_control_test_assets
 
#endif  // ROS2_CONTROL_TEST_ASSETS__DESCRIPTIONS_HPP_