quadruped_ros2_control/hardwares/hardware_unitree_mujoco/xacro/ros2_control.xacro

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

  <xacro:macro name="r6bot_ros2_control" params="name">

    <ros2_control name="${name}" type="system">

      <hardware>
        <plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
      </hardware>

      <joint name="FR_hip_joint">
        <command_interface name="position"/>
        <command_interface name="velocity"/>
        <command_interface name="effort"/>
        <command_interface name="kp"/>
        <command_interface name="kd"/>

        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>

      <joint name="FR_thigh_joint">
        <command_interface name="position"/>
        <command_interface name="velocity"/>
        <command_interface name="effort"/>
        <command_interface name="kp"/>
        <command_interface name="kd"/>

        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>

      <joint name="FR_calf_joint">
        <command_interface name="position"/>
        <command_interface name="velocity"/>
        <command_interface name="effort"/>
        <command_interface name="kp"/>
        <command_interface name="kd"/>

        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>

      <joint name="FL_hip_joint">
        <command_interface name="position"/>
        <command_interface name="velocity"/>
        <command_interface name="effort"/>
        <command_interface name="kp"/>
        <command_interface name="kd"/>

        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>

      <joint name="FL_thigh_joint">
        <command_interface name="position"/>
        <command_interface name="velocity"/>
        <command_interface name="effort"/>
        <command_interface name="kp"/>
        <command_interface name="kd"/>

        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>

      <joint name="FL_calf_joint">
        <command_interface name="position"/>
        <command_interface name="velocity"/>
        <command_interface name="effort"/>
        <command_interface name="kp"/>
        <command_interface name="kd"/>

        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>

      <joint name="RR_hip_joint">
        <command_interface name="position"/>
        <command_interface name="velocity"/>
        <command_interface name="effort"/>
        <command_interface name="kp"/>
        <command_interface name="kd"/>

        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>

      <joint name="RR_thigh_joint">
        <command_interface name="position"/>
        <command_interface name="velocity"/>
        <command_interface name="effort"/>
        <command_interface name="kp"/>
        <command_interface name="kd"/>

        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>

      <joint name="RR_calf_joint">
        <command_interface name="position"/>
        <command_interface name="velocity"/>
        <command_interface name="effort"/>
        <command_interface name="kp"/>
        <command_interface name="kd"/>

        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>

      <joint name="RL_hip_joint">
        <command_interface name="position"/>
        <command_interface name="velocity"/>
        <command_interface name="effort"/>
        <command_interface name="kp"/>
        <command_interface name="kd"/>

        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>

      <joint name="RL_thigh_joint">
        <command_interface name="position"/>
        <command_interface name="velocity"/>
        <command_interface name="effort"/>
        <command_interface name="kp"/>
        <command_interface name="kd"/>

        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>

      <joint name="RL_calf_joint">
        <command_interface name="position"/>
        <command_interface name="velocity"/>
        <command_interface name="effort"/>
        <command_interface name="kp"/>
        <command_interface name="kd"/>

        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>

    </ros2_control>

  </xacro:macro>

</robot>