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Fix: Ewellix Parameters #278

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Merged
merged 1 commit into from
Nov 6, 2025
Merged

Fix: Ewellix Parameters #278

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10 changes: 8 additions & 2 deletions clearpath_manipulators_description/urdf/lift/ewellix.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,8 @@
parent_link
*origin
ewellix_type:=tlt_x25
add_plate:=True
add_plate:=''
add_mount:=''
parameters_file:=''
initial_positions:=''
initial_positions_file:=''
Expand Down Expand Up @@ -39,6 +40,8 @@
<xacro:property name="_sim_gazebo" value="$(arg is_sim)" />

<!-- Default Hardware Parameters -->
<xacro:property name="_add_plate" value="True"/>
<xacro:property name="_add_mount" value="True"/>
<xacro:property name="_port" value="/dev/ttyUSB0"/>
<xacro:property name="_baud" value="38400"/>
<xacro:property name="_timeout" value="1000"/>
Expand All @@ -54,6 +57,8 @@
<xacro:if value="${generate_ros2_control_tag != ''}"> <xacro:property name="_generate_ros2_control_tag" value="${generate_ros2_control_tag}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${use_fake_hardware != ''}"> <xacro:property name="_use_fake_hardware" value="${use_fake_hardware}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${sim_gazebo != ''}"> <xacro:property name="_sim_gazebo" value="${sim_gazebo}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${add_plate != ''}"> <xacro:property name="_add_plate" value="${add_plate}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${add_mount != ''}"> <xacro:property name="_add_mount" value="${add_mount}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${port != ''}"> <xacro:property name="_port" value="${port}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${baud != ''}"> <xacro:property name="_baud" value="${baud}" lazy_eval="false"/> </xacro:if>
<xacro:if value="${timeout != ''}"> <xacro:property name="_timeout" value="${timeout}" lazy_eval="false"/> </xacro:if>
Expand All @@ -65,7 +70,8 @@
<xacro:ewellix_lift
parent="${parent_link}"
tf_prefix="${_tf_prefix}"
add_plate="${add_plate}"
add_plate="${_add_plate}"
add_mount="${_add_mount}"
initial_positions="${_initial_positions}"
parameters_file="${_parameters_file}"
generate_ros2_control_tag="${_generate_ros2_control_tag}"
Expand Down