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Enable initial position param in kinova xacros #190

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merged 3 commits into from
Nov 27, 2023
Merged

Enable initial position param in kinova xacros #190

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f8ffec8
Enable initial position param in kinova xacros
dyackzan Nov 22, 2023
122f05c
Break initial_positions out into a yaml file
dyackzan Nov 22, 2023
3a44f37
Set initial positions to all zeros
dyackzan Nov 22, 2023
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2 changes: 1 addition & 1 deletion kortex_description/CMakeLists.txt
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Expand Up @@ -9,7 +9,7 @@ endif()
find_package(ament_cmake REQUIRED)

install(
DIRECTORY arms grippers launch multiple_robots robots rviz
DIRECTORY arms grippers launch multiple_robots robots rviz config
DESTINATION share/${PROJECT_NAME}
)

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8 changes: 8 additions & 0 deletions kortex_description/config/initial_positions.yaml
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@@ -0,0 +1,8 @@
# NOTE: Used for both 6 and 7 dof bots. The joint_7 value will be unused for 6 dof bots
joint_1: 0.0
joint_2: 0.0
joint_3: 0.0
joint_4: 0.0
joint_5: 0.0
joint_6: 0.0
joint_7: 0.0
7 changes: 6 additions & 1 deletion kortex_description/robots/gen3.xacro
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Expand Up @@ -27,6 +27,10 @@
<xacro:arg name="use_external_cable" default="false" />

<xacro:include filename="$(find kortex_description)/robots/kortex_robot.xacro" />
<!-- initial position for simulations (Mock Hardware, Gazebo, Ignition) -->
<xacro:arg name="initial_positions_file" default="$(find kortex_description)/config/initial_positions.yaml"/>
<!-- convert to property to use substitution in function -->
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
<link name="world" />
<xacro:load_robot
parent="world"
Expand All @@ -51,7 +55,8 @@
sim_gazebo="$(arg sim_gazebo)"
sim_ignition="$(arg sim_ignition)"
sim_isaac="$(arg sim_isaac)"
use_external_cable="$(arg use_external_cable)" >
use_external_cable="$(arg use_external_cable)"
initial_positions="${xacro.load_yaml(initial_positions_file)}" >
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
</xacro:load_robot>

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9 changes: 8 additions & 1 deletion kortex_description/robots/kinova.urdf.xacro
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Expand Up @@ -36,6 +36,12 @@
<!-- import main macro -->
<xacro:include filename="$(find kortex_description)/robots/kortex_robot.xacro" />

<!-- initial position for simulations (Mock Hardware, Gazebo, Ignition) -->
<xacro:arg name="initial_positions_file" default="$(find kortex_description)/config/initial_positions.yaml"/>

<!-- convert to property to use substitution in function -->
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>

<!-- create link fixed to the "world" -->
<link name="world" />

Expand All @@ -61,7 +67,8 @@
fake_sensor_commands="$(arg fake_sensor_commands)"
sim_gazebo="$(arg sim_gazebo)"
sim_ignition="$(arg sim_ignition)"
sim_isaac="$(arg sim_isaac)" >
sim_isaac="$(arg sim_isaac)"
initial_positions="${xacro.load_yaml(initial_positions_file)}" >
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
</xacro:load_robot>

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4 changes: 3 additions & 1 deletion kortex_description/robots/kortex_robot.xacro
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Expand Up @@ -27,6 +27,7 @@
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
use_external_cable:=false
initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)}
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gripper_max_velocity:=100.0
gripper_max_force:=100.0">

Expand Down Expand Up @@ -57,7 +58,8 @@
gripper_joint_name="${gripper_joint_name}"
gripper_max_velocity="${gripper_max_velocity}"
gripper_max_force="${gripper_max_force}"
use_external_cable="${use_external_cable}">
use_external_cable="${use_external_cable}"
initial_positions="${initial_positions}">
<xacro:insert_block name="origin" />
</xacro:load_arm>

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