<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:macro name="epick_driver_ros2_control" params="name">

    <ros2_control name="${name}" type="system">
      <hardware>
        <plugin>epick_driver/EpickGripperHardwareInterface</plugin>

       <!-- Serial connection parameters -->

        <param name="usb_port">/dev/ttyUSB0</param>
        <param name="baud_rate">115200</param>
        <param name="timeout">0.2</param>

        <!-- Gripper parameters -->

        <!-- Set use_dummy to true to connect to a dummy driver for testing purposes. -->
        <param name="use_dummy">false</param>

        <!-- The address of the gripper. -->
        <param name="slave_address">0x9</param>

        <!-- The gripper operation mode: AutomaticMode or AdvancedMode. -->
        <param name="mode">AdvancedMode</param>

        <!-- The following parameters are only required for the AdvancedMode. -->
        <param name="grip_max_vacuum_pressure">-60</param>
        <param name="grip_min_vacuum_pressure">-10</param>
        <param name="grip_timeout">25.0</param>
        <param name="release_timeout">2.0</param>

      </hardware>

      <gpio name="gripper">
        <!--
          Command interface to control the gripper:
          1.0 = grip
          0.0 = release
        -->
        <command_interface name="grip_cmd"/>

        <!--
          State interface that follow the value of the command interface:
          1.0 = successful grip
          0.0 = successful release
        -->
        <state_interface name="grip_cmd"/>

        <!--
          Return the object detection status:
          0.0 = unknown
          1.0 = object detected at minimum pressure
          2.0 = object detected at maximum pressure
          3.0 = no object detected
        -->
        <state_interface name="object_detection_status"/>
      </gpio>

      <!--
        This is optional configuration if you want to publish the state of the
        gripper as a joint state interface.
      -->
      <joint name="gripper">
        <!--
          State interface that follows the value of the gripper/grip_cmd
          command interface:
          1.0 = successful grip
          0.0 = successful release
        -->
        <state_interface name="position"/>
      </joint>

    </ros2_control>

</xacro:macro>
</robot>