mtms.urdf.xacro

<?xml version="1.0"?>
<robot name="mtms" xmlns:xacro="http://www.ros.org/wiki/xacro">

    <!-- Macros -->
    <xacro:include filename="$(find mtm_description)/urdf/xacros/mtm.xacro" />
    <xacro:include filename="$(find mtm_description)/urdf/ros2_control/mtm.ros2_control.xacro" />

    <!-- Parent Link -->
    <link name="world" />

    <!-- MTM Left -->
    <xacro:mtm_left
        prefix="MTML"
        parent_link="world"
        xyz="-0.25 0.0 1.0" rpy="0.0 0.0 0.0" />

    <!-- MTM Right -->
    <xacro:mtm_right
        prefix="MTMR"
        parent_link="world"
        xyz="0.25 0.0 1.0" rpy="0.0 0.0 0.0" />

    <!-- ROS2 Control -->
    <ros2_control name="mtms_ros2_control" type="system">

        <hardware>
            <plugin>fake_components/GenericSystem</plugin>
        </hardware>

        <xacro:mtm_ros2_control prefix="MTML" />
        <xacro:mtm_ros2_control prefix="MTMR" />

    </ros2_control>

</robot>