Add passthrough command interfaces for joints (#204)

UniversalRobots · Oct 5, 2024 · 6b1a776 · 6b1a776
1 parent 352a35c
commit 6b1a776
Showing 1 changed file with 18 additions and 0 deletions.
diff --git a/urdf/inc/ur_joint_control.xacro b/urdf/inc/ur_joint_control.xacro
@@ -8,6 +8,9 @@
     <joint name="${tf_prefix}shoulder_pan_joint">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
+      <command_interface name="passthrough_position"/>
+      <command_interface name="passthrough_velocity"/>
+      <command_interface name="passthrough_acceleration"/>
       <state_interface name="position">
         <!-- initial position for the mock system and simulation -->
         <param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
@@ -22,6 +25,9 @@
     <joint name="${tf_prefix}shoulder_lift_joint">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
+      <command_interface name="passthrough_position"/>
+      <command_interface name="passthrough_velocity"/>
+      <command_interface name="passthrough_acceleration"/>
       <state_interface name="position">
         <!-- initial position for the mock system and simulation -->
         <param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
@@ -36,6 +42,9 @@
     <joint name="${tf_prefix}elbow_joint">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
+      <command_interface name="passthrough_position"/>
+      <command_interface name="passthrough_velocity"/>
+      <command_interface name="passthrough_acceleration"/>
       <state_interface name="position">
         <!-- initial position for the mock system and simulation -->
         <param name="initial_value">${initial_positions['elbow_joint']}</param>
@@ -50,6 +59,9 @@
     <joint name="${tf_prefix}wrist_1_joint">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
+      <command_interface name="passthrough_position"/>
+      <command_interface name="passthrough_velocity"/>
+      <command_interface name="passthrough_acceleration"/>
       <state_interface name="position">
         <!-- initial position for the mock system and simulation -->
         <param name="initial_value">${initial_positions['wrist_1_joint']}</param>
@@ -64,6 +76,9 @@
     <joint name="${tf_prefix}wrist_2_joint">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
+      <command_interface name="passthrough_position"/>
+      <command_interface name="passthrough_velocity"/>
+      <command_interface name="passthrough_acceleration"/>
       <state_interface name="position">
         <!-- initial position for the mock system and simulation -->
         <param name="initial_value">${initial_positions['wrist_2_joint']}</param>
@@ -78,6 +93,9 @@
     <joint name="${tf_prefix}wrist_3_joint">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
+      <command_interface name="passthrough_position"/>
+      <command_interface name="passthrough_velocity"/>
+      <command_interface name="passthrough_acceleration"/>
       <state_interface name="position">
         <!-- initial position for the mock system and simulation -->
         <param name="initial_value">${initial_positions['wrist_3_joint']}</param>