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Add a flag to include ros2_control tag #247

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Add a flag to include ros2_control tag #247

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6e71b56
Add a flag to include ros2_control tag
JafarAbdi Oct 19, 2024
e20df4b
Add a flag to include ros2_control tag
JafarAbdi Oct 19, 2024
66996ee
Merge branch 'include_ros2_control_arg' into fix_pr247_conflicts
vamsikalagaturu Nov 20, 2024
37c6907
Merge pull request #2 from secorolab/fix_pr247_conflicts
JafarAbdi Nov 22, 2024
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51 changes: 27 additions & 24 deletions kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -31,33 +31,36 @@
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
use_external_cable:=false
include_ros2_control:=true
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)}
moveit_active:=false">

<!-- ros2 control include -->
<xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
<xacro:kortex_ros2_control
name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
sim_isaac="${sim_isaac}"
isaac_joint_commands="${isaac_joint_commands}"
isaac_joint_states="${isaac_joint_states}"
tf_prefix=""
initial_positions="${initial_positions}"
robot_ip="${robot_ip}"
username="${username}"
password="${password}"
port="${port}"
port_realtime="${port_realtime}"
session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
gripper_max_velocity="${gripper_max_velocity}"
gripper_max_force="${gripper_max_force}"
gripper_joint_name="${gripper_joint_name}"/>
<xacro:if value="${include_ros2_control}">
<!-- ros2 control include -->
<xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
<xacro:kortex_ros2_control
name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
sim_isaac="${sim_isaac}"
isaac_joint_commands="${isaac_joint_commands}"
isaac_joint_states="${isaac_joint_states}"
tf_prefix=""
initial_positions="${initial_positions}"
robot_ip="${robot_ip}"
username="${username}"
password="${password}"
port="${port}"
port_realtime="${port_realtime}"
session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
gripper_max_velocity="${gripper_max_velocity}"
gripper_max_force="${gripper_max_force}"
gripper_joint_name="${gripper_joint_name}"/>
</xacro:if>

<joint name="${prefix}base_joint" type="fixed">
<xacro:insert_block name="origin" />
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51 changes: 27 additions & 24 deletions kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,33 +31,36 @@
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
use_external_cable:=false
include_ros2_control:=true
initial_positions:=${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)}
moveit_active:=false">

<!-- ros2 control include -->
<xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
<xacro:kortex_ros2_control
name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
sim_isaac="${sim_isaac}"
isaac_joint_commands="${isaac_joint_commands}"
isaac_joint_states="${isaac_joint_states}"
tf_prefix=""
initial_positions="${initial_positions}"
robot_ip="${robot_ip}"
username="${username}"
password="${password}"
port="${port}"
port_realtime="${port_realtime}"
session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
gripper_max_velocity="${gripper_max_velocity}"
gripper_max_force="${gripper_max_force}"
gripper_joint_name="${gripper_joint_name}"/>
<xacro:if value="${include_ros2_control}">
<!-- ros2 control include -->
<xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
<xacro:kortex_ros2_control
name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
sim_isaac="${sim_isaac}"
isaac_joint_commands="${isaac_joint_commands}"
isaac_joint_states="${isaac_joint_states}"
tf_prefix=""
initial_positions="${initial_positions}"
robot_ip="${robot_ip}"
username="${username}"
password="${password}"
port="${port}"
port_realtime="${port_realtime}"
session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
gripper_max_velocity="${gripper_max_velocity}"
gripper_max_force="${gripper_max_force}"
gripper_joint_name="${gripper_joint_name}"/>
</xacro:if>

<joint name="${prefix}base_joint" type="fixed">
<xacro:insert_block name="origin" />
Expand Down
83 changes: 43 additions & 40 deletions kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -30,52 +30,55 @@
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
use_external_cable:=false
include_ros2_control:=true
initial_positions:=${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)}
moveit_active:=false" >

<!-- ros2 control include -->
<xacro:include filename="$(find kortex_description)/arms/gen3_lite/${dof}dof/urdf/kortex.ros2_control.xacro" />
<xacro:if value="${sim_ignition or sim_gazebo}">
<xacro:unless value="${moveit_active}">
<xacro:property name="ros2_control_name" value="IgnitionSystem"/>
<xacro:if value="${include_ros2_control}">
<!-- ros2 control include -->
<xacro:include filename="$(find kortex_description)/arms/gen3_lite/${dof}dof/urdf/kortex.ros2_control.xacro" />
<xacro:if value="${sim_ignition or sim_gazebo}">
<xacro:unless value="${moveit_active}">
<xacro:property name="ros2_control_name" value="IgnitionSystem"/>
</xacro:unless>
</xacro:if>
<xacro:if value="${use_fake_hardware}">
<xacro:unless value="${moveit_active}">
<xacro:property name="ros2_control_name" value="GenericSystem"/>
</xacro:unless>
</xacro:if>
<xacro:unless value="${use_fake_hardware or sim_ignition or sim_gazebo}">
<xacro:unless value="${moveit_active}">
<xacro:property name="ros2_control_name" value="${prefix}KortexMultiInterfaceHardware"/>
</xacro:unless>
</xacro:unless>
</xacro:if>
<xacro:if value="${use_fake_hardware}">
<xacro:unless value="${moveit_active}">
<xacro:property name="ros2_control_name" value="GenericSystem"/>
</xacro:unless>
</xacro:if>
<xacro:unless value="${use_fake_hardware or sim_ignition or sim_gazebo}">
<xacro:unless value="${moveit_active}">
<xacro:if value="${moveit_active}">
<xacro:property name="ros2_control_name" value="${prefix}KortexMultiInterfaceHardware"/>
</xacro:unless>
</xacro:unless>
<xacro:if value="${moveit_active}">
<xacro:property name="ros2_control_name" value="${prefix}KortexMultiInterfaceHardware"/>
</xacro:if>
<xacro:kortex_ros2_control
name="${ros2_control_name}" prefix="${prefix}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
sim_isaac="${sim_isaac}"
isaac_joint_commands="${isaac_joint_commands}"
isaac_joint_states="${isaac_joint_states}"
tf_prefix=""
initial_positions="${initial_positions}"
robot_ip="${robot_ip}"
username="${username}"
password="${password}"
port="${port}"
port_realtime="${port_realtime}"
session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
gripper_max_velocity="${gripper_max_velocity}"
gripper_max_force="${gripper_max_force}"
gripper_joint_name="${gripper_joint_name}"
moveit_active="${moveit_active}"/>
</xacro:if>
<xacro:kortex_ros2_control
name="${ros2_control_name}" prefix="${prefix}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
sim_isaac="${sim_isaac}"
isaac_joint_commands="${isaac_joint_commands}"
isaac_joint_states="${isaac_joint_states}"
tf_prefix=""
initial_positions="${initial_positions}"
robot_ip="${robot_ip}"
username="${username}"
password="${password}"
port="${port}"
port_realtime="${port_realtime}"
session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
gripper_max_velocity="${gripper_max_velocity}"
gripper_max_force="${gripper_max_force}"
gripper_joint_name="${gripper_joint_name}"
moveit_active="${moveit_active}"/>

<joint name="${prefix}base_joint" type="fixed">
<xacro:insert_block name="origin" />
Expand Down
7 changes: 1 addition & 6 deletions kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -10,16 +10,11 @@
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
use_internal_bus_gripper_comm:=false
include_ros2_control:=true
com_port:=/dev/ttyUSB0
moveit_active:=false">
<xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_140_macro.urdf.xacro" />

<!-- Hardware talks directly to the gripper so we don't need ros2_control unless we are simulating -->
<xacro:property name="include_ros2_control" value="false"/>
<xacro:if value="${sim_ignition or sim_isaac or use_fake_hardware or not use_internal_bus_gripper_comm}">
<xacro:property name="include_ros2_control" value="true"/>
</xacro:if>

<xacro:robotiq_gripper
name="RobotiqGripperHardwareInterface"
prefix="${prefix}"
Expand Down
7 changes: 1 addition & 6 deletions kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -10,16 +10,11 @@
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
use_internal_bus_gripper_comm:=false
include_ros2_control:=true
com_port:=/dev/ttyUSB0
moveit_active:=false">
<xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />

<!-- Hardware talks directly to the gripper so we don't need ros2_control unless we are simulating -->
<xacro:property name="include_ros2_control" value="false"/>
<xacro:if value="${sim_ignition or sim_isaac or use_fake_hardware or not use_internal_bus_gripper_comm}">
<xacro:property name="include_ros2_control" value="true"/>
</xacro:if>

<xacro:robotiq_gripper
name="RobotiqGripperHardwareInterface"
prefix="${prefix}"
Expand Down
3 changes: 3 additions & 0 deletions kortex_description/robots/kortex_robot.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
use_external_cable:=false
include_ros2_control:=true
initial_positions:=${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)}
gripper_max_velocity:=100.0
gripper_max_force:=100.0
Expand Down Expand Up @@ -61,6 +62,7 @@
gripper_max_velocity="${gripper_max_velocity}"
gripper_max_force="${gripper_max_force}"
use_external_cable="${use_external_cable}"
include_ros2_control="${include_ros2_control}"
initial_positions="${initial_positions}"
moveit_active="${moveit_active}">
<xacro:insert_block name="origin" />
Expand Down Expand Up @@ -90,6 +92,7 @@
sim_isaac="${sim_isaac}"
isaac_joint_commands="${isaac_joint_commands}"
isaac_joint_states="${isaac_joint_states}"
include_ros2_control="${include_ros2_control}"
com_port="${gripper_com_port}"
use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
moveit_active="${moveit_active}"/>
Expand Down
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