my_baxter_arm.ros2_control.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:macro name="baxter_arm_ros2_control" params="side">
        <ros2_control name="${side}_baxter_arm" type="system">
            <hardware>
                <xacro:if value="${gazebo}">
                    <plugin>ign_ros2_control/IgnitionSystem</plugin>
                </xacro:if>
                <xacro:unless value="${gazebo}">
                    <plugin>mock_components/GenericSystem</plugin>
                </xacro:unless>
            </hardware>
            <joint name="${side}_s0">
                <command_interface name="position"/>
                <state_interface name="position">
                    <param name="initial_value">0</param>
                </state_interface>
                <state_interface name="velocity">
                    <param name="initial_value">0.0</param>
                </state_interface>
            </joint>
            <joint name="${side}_s1">
                <command_interface name="position"/>
                <state_interface name="position">
                    <param name="initial_value">0</param>
                </state_interface>
                <state_interface name="velocity">
                    <param name="initial_value">0.0</param>
                </state_interface>
            </joint>
            <joint name="${side}_e0">
                <command_interface name="position"/>
                <state_interface name="position">
                    <param name="initial_value">0</param>
                </state_interface>
                <state_interface name="velocity">
                    <param name="initial_value">0.0</param>
                </state_interface>
            </joint>
            <joint name="${side}_e1">
                <command_interface name="position"/>
                <state_interface name="position">
                    <param name="initial_value">0</param>
                </state_interface>
                <state_interface name="velocity">
                    <param name="initial_value">0.0</param>
                </state_interface>
            </joint>
            <joint name="${side}_w0">
                <command_interface name="position"/>
                <state_interface name="position">
                    <param name="initial_value">0</param>
                </state_interface>
                <state_interface name="velocity">
                    <param name="initial_value">0.0</param>
                </state_interface>
            </joint>
            <joint name="${side}_w1">
                <command_interface name="position"/>
                <state_interface name="position">
                    <param name="initial_value">0</param>
                </state_interface>
                <state_interface name="velocity">
                    <param name="initial_value">0.0</param>
                </state_interface>
            </joint>
            <joint name="${side}_w2">
                <command_interface name="position"/>
                <state_interface name="position">
                    <param name="initial_value">0</param>
                </state_interface>
                <state_interface name="velocity">
                    <param name="initial_value">0.0</param>
                </state_interface>
            </joint>
            <joint name="head_pan">
                <command_interface name="position"/>
                <state_interface name="position">
                    <param name="initial_value">0</param>
                </state_interface>
                <state_interface name="velocity">
                    <param name="initial_value">0.0</param>
                </state_interface>
            </joint>
        </ros2_control>
    </xacro:macro>
</robot>