add quaternion mock joints and position

kroshu · Oct 15, 2024 · 1612b26 · 1612b26
1 parent 6a20af7
commit 1612b26
Showing 1 changed file with 15 additions and 0 deletions.
diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro
@@ -125,20 +125,35 @@
       </joint>
       <xacro:if value="${use_fake_hardware}">
         <joint name="${prefix}dummy_cart_joint/x">
+          <command_interface name="position"/>
           <command_interface name="stiffness"/>
           <command_interface name="damping"/>
           <command_interface name="effort"/>
         </joint>
         <joint name="${prefix}dummy_cart_joint/y">
+          <command_interface name="position"/>
           <command_interface name="stiffness"/>
           <command_interface name="damping"/>
           <command_interface name="effort"/>
         </joint>
         <joint name="${prefix}dummy_cart_joint/z">
+          <command_interface name="position"/>
           <command_interface name="stiffness"/>
           <command_interface name="damping"/>
           <command_interface name="effort"/>
         </joint>
+        <joint name="${prefix}dummy_cart_joint/qx">
+          <command_interface name="position"/>
+        </joint>
+        <joint name="${prefix}dummy_cart_joint/qy">
+          <command_interface name="position"/>
+        </joint>
+        <joint name="${prefix}dummy_cart_joint/qz">
+          <command_interface name="position"/>
+        </joint>
+        <joint name="${prefix}dummy_cart_joint/qw">
+          <command_interface name="position"/>
+        </joint>
         <joint name="${prefix}dummy_cart_joint/a">
           <command_interface name="stiffness"/>
           <command_interface name="damping"/>