Only load Dynamixel hardware interface if end_effector_tool is set to…

… articulable_fork
personalrobotics · Dec 20, 2024 · 669aa7d · 669aa7d
1 parent ef1592b
commit 669aa7d
Showing 1 changed file with 7 additions and 4 deletions.
diff --git a/ada_hardware/urdf/ada_hardware.xacro b/ada_hardware/urdf/ada_hardware.xacro
@@ -8,6 +8,7 @@
   <xacro:arg name="sim" default="none" />
   <xacro:arg name="readonly" default="false" />
   <xacro:arg name="end_effector_tool" default="fork" />
+  <xacro:property name="end_effector_tool" value="$(arg end_effector_tool)" />
 
   <xacro:include filename="$(find ada_description)/urdf/ada.xacro"/>
 
@@ -23,9 +24,11 @@
     sim="$(arg sim)"
     readonly="$(arg readonly)" />
 
-  <xacro:dynamixel_hardware_interface
-    name="DynamixelHardware"
-    sim="$(arg sim)"
-    readonly="$(arg readonly)" />
+  <xacro:if value="${end_effector_tool == 'articulable_fork'}">
+    <xacro:dynamixel_hardware_interface
+      name="DynamixelHardware"
+      sim="$(arg sim)"
+      readonly="$(arg readonly)" />
+  </xacro:if>
 
 </robot>