Add additional guards if user sets use_fake_hardware and use_internal…

…_bus_gripper_comm true
Kinovarobotics · Nov 28, 2023 · c9a4fe4 · c9a4fe4
1 parent 42651c1
commit c9a4fe4
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Showing 3 changed files with 19 additions and 15 deletions.
diff --git a/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro
@@ -136,13 +136,15 @@
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
       </joint>
-      <xacro:if value="${use_internal_bus_gripper_comm}">
-        <joint name="${prefix}${gripper_joint_name}">
-          <command_interface name="position" />
-          <state_interface name="position"/>
-          <state_interface name="velocity"/>
-        </joint>
-      </xacro:if>
+      <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_ignition or sim_isaac}">
+        <xacro:if value="${use_internal_bus_gripper_comm}">
+          <joint name="${prefix}${gripper_joint_name}">
+            <command_interface name="position" />
+            <state_interface name="position"/>
+            <state_interface name="velocity"/>
+          </joint>
+        </xacro:if>
+      </xacro:unless>
     </ros2_control>
   </xacro:macro>
 

diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro
@@ -125,13 +125,15 @@
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
       </joint>
-      <xacro:if value="${use_internal_bus_gripper_comm}">
-      <joint name="${prefix}right_finger_bottom_joint">
-        <command_interface name="position"/>
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-      </xacro:if>
+      <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_ignition or sim_isaac}">
+        <xacro:if value="${use_internal_bus_gripper_comm}">
+          <joint name="${prefix}right_finger_bottom_joint">
+            <command_interface name="position"/>
+            <state_interface name="position"/>
+            <state_interface name="velocity"/>
+          </joint>
+        </xacro:if>
+      </xacro:unless>
     </ros2_control>
   </xacro:macro>
 

diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
@@ -29,6 +29,6 @@
         isaac_joint_commands="${isaac_joint_commands}"
         isaac_joint_states="${isaac_joint_states}">
         <origin xyz="0 0 0" rpy="0 0 0" />
-    </xacro:robotiq_gripper>    
+    </xacro:robotiq_gripper>
   </xacro:macro>
 </robot>