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Separate component loading from shared body emission #106

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Merged
kou merged 1 commit into from
Nov 2, 2026
Merged

Separate component loading from shared body emission #106

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27 changes: 27 additions & 0 deletions assets/common/links.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -135,4 +135,31 @@ limitations under the License.



<xacro:macro name="openarm_emit_rigid_component"
params="link_name connected_to mount_origin topology inertials visuals collisions reflect_x:=1 reflect_y:=1 reflect_z:=1 reflect_include_links:=^ skip_mount_joint:=false base_frame_shift:=none">

<xacro:property name="base_link_name" value="${topology['links'][0]}" lazy_eval="false" />
<xacro:property name="resolved_base_frame_shift" value="${base_frame_shift if base_frame_shift != 'none' else 'none'}" lazy_eval="false" />
<xacro:property name="base_link_reflects" value="${base_link_name in reflect_include_links}" lazy_eval="false" />

<xacro:openarm_emit_link
link_name="${link_name}"
source_name="${base_link_name}"
inertials="${inertials}"
visuals="${visuals}"
collisions="${collisions}"
reflect_x="${reflect_x if base_link_reflects else 1}"
reflect_y="${reflect_y if base_link_reflects else 1}"
reflect_z="${reflect_z if base_link_reflects else 1}"
frame_shift="${resolved_base_frame_shift}" />

<xacro:unless value="${skip_mount_joint}">
<joint name="${link_name}_mount_joint" type="fixed">
<xacro:openarm_emit_origin origin="${mount_origin}" reflect_x="1" reflect_y="1" reflect_z="1" reflect_position="false" />
<parent link="${connected_to}" />
<child link="${link_name}" />
</joint>
</xacro:unless>
</xacro:macro>

</robot>
35 changes: 4 additions & 31 deletions ...m_v2.0/urdf/utils/openarm_v20_robot.xacro → assets/component_loader.xacro
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Expand Up @@ -14,39 +14,12 @@ limitations under the License.

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find openarm_description)/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_arm.xacro" />
<xacro:include filename="$(find openarm_description)/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_ee.xacro" />
<xacro:include filename="$(find openarm_description)/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_sensor.xacro" />
<xacro:include filename="$(find openarm_description)/assets/common/links.xacro" />
<xacro:include filename="$(find openarm_description)/assets/common/reference_frames.xacro" />
<xacro:include filename="$(find openarm_description)/assets/common/validation.xacro" />

<xacro:macro name="openarm_v20_body"
params="link_name connected_to mount_origin topology inertials visuals collisions reflect_x:=1 reflect_y:=1 reflect_z:=1 reflect_include_links:=^ skip_mount_joint:=false base_frame_shift:=none">

<xacro:property name="base_link_name" value="${topology['links'][0]}" lazy_eval="false" />
<xacro:property name="resolved_base_frame_shift" value="${base_frame_shift if base_frame_shift != 'none' else 'none'}" lazy_eval="false" />
<xacro:property name="base_link_reflects" value="${base_link_name in reflect_include_links}" lazy_eval="false" />

<xacro:openarm_emit_link
link_name="${link_name}"
source_name="${base_link_name}"
inertials="${inertials}"
visuals="${visuals}"
collisions="${collisions}"
reflect_x="${reflect_x if base_link_reflects else 1}"
reflect_y="${reflect_y if base_link_reflects else 1}"
reflect_z="${reflect_z if base_link_reflects else 1}"
frame_shift="${resolved_base_frame_shift}" />

<xacro:unless value="${skip_mount_joint}">
<joint name="${link_name}_mount_joint" type="fixed">
<xacro:openarm_emit_origin origin="${mount_origin}" reflect_x="1" reflect_y="1" reflect_z="1" reflect_position="false" />
<parent link="${connected_to}" />
<child link="${link_name}" />
</joint>
</xacro:unless>
</xacro:macro>
<xacro:include filename="$(find openarm_description)/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_arm.xacro" />
<xacro:include filename="$(find openarm_description)/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_ee.xacro" />
<xacro:include filename="$(find openarm_description)/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_sensor.xacro" />

<xacro:macro name="openarm_load_component_descriptor"
params="component_name component_cfg config_root out_name">
Expand Down Expand Up @@ -165,7 +138,7 @@ limitations under the License.
<xacro:property name="component_type" value="${component_runtime['component_type']}" lazy_eval="false" />

<xacro:if value="${component_type == 'body'}">
<xacro:openarm_v20_body
<xacro:openarm_emit_rigid_component
link_name="${component_desc['root_link_actual']}"
connected_to="${component_runtime['resolved_connected_to']}"
mount_origin="${component_runtime['resolved_mount_origin']}"
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2 changes: 1 addition & 1 deletion assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ limitations under the License.

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_v20">

<xacro:include filename="$(find openarm_description)/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_robot.xacro" />
<xacro:include filename="$(find openarm_description)/assets/component_loader.xacro" />
<xacro:include filename="$(find openarm_description)/assets/common/assembly.xacro" />

<xacro:include filename="$(find openarm_description)/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro" />
Expand Down
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