From b0dad3c7b7a4a5f09ce4a68fd26b79f95ef79f89 Mon Sep 17 00:00:00 2001
From: Vamsi Kalagaturu <vamsikalagaturu@gmail.com>
Date: Mon, 29 Sep 2025 15:27:17 +0200
Subject: [PATCH] add following to urdf fix launches: missing vision param for
 gen3 arms missing prefix for gripper_joint_name in ros2_control missing
 gripper check in kortex_control.launch

---
 kortex_bringup/launch/gen3.launch.py                |  9 +++++++++
 kortex_bringup/launch/kortex_control.launch.py      | 13 ++++++++++++-
 .../arms/gen3/6dof/urdf/kortex.ros2_control.xacro   |  2 +-
 .../arms/gen3/7dof/urdf/kortex.ros2_control.xacro   |  2 +-
 4 files changed, 23 insertions(+), 3 deletions(-)

diff --git a/kortex_bringup/launch/gen3.launch.py b/kortex_bringup/launch/gen3.launch.py
index c9bd50e72..0f4c6ca20 100644
--- a/kortex_bringup/launch/gen3.launch.py
+++ b/kortex_bringup/launch/gen3.launch.py
@@ -61,6 +61,13 @@ def generate_launch_description():
             description="Robot controller to start.",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "vision",
+            default_value="false",
+            description="Is vision module (camera) present on the robot?",
+        )
+    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "controllers_file",
@@ -115,6 +122,7 @@ def generate_launch_description():
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
     fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
     robot_controller = LaunchConfiguration("robot_controller")
+    vision = LaunchConfiguration("vision")
     gripper = LaunchConfiguration("gripper")
     use_internal_bus_gripper_comm = LaunchConfiguration("use_internal_bus_gripper_comm")
     gripper_max_velocity = LaunchConfiguration("gripper_max_velocity")
@@ -132,6 +140,7 @@ def generate_launch_description():
             "use_fake_hardware": use_fake_hardware,
             "fake_sensor_commands": fake_sensor_commands,
             "robot_controller": robot_controller,
+            "vision": vision,
             "gripper": gripper,
             "use_internal_bus_gripper_comm": use_internal_bus_gripper_comm,
             "gripper_max_velocity": gripper_max_velocity,
diff --git a/kortex_bringup/launch/kortex_control.launch.py b/kortex_bringup/launch/kortex_control.launch.py
index 88da2fe81..6a50725c8 100644
--- a/kortex_bringup/launch/kortex_control.launch.py
+++ b/kortex_bringup/launch/kortex_control.launch.py
@@ -44,6 +44,7 @@ def launch_setup(context, *args, **kwargs):
     description_file = LaunchConfiguration("description_file")
     robot_name = LaunchConfiguration("robot_name")
     prefix = LaunchConfiguration("prefix")
+    vision = LaunchConfiguration("vision")
     gripper = LaunchConfiguration("gripper")
     gripper_max_velocity = LaunchConfiguration("gripper_max_velocity")
     gripper_max_force = LaunchConfiguration("gripper_max_force")
@@ -59,7 +60,7 @@ def launch_setup(context, *args, **kwargs):
 
     # if we are using fake hardware then we can't use the internal gripper communications of the hardware
     use_fake_hardware_value = use_fake_hardware.perform(context)
-    if use_fake_hardware_value == "true":
+    if use_fake_hardware_value == "true" or gripper.perform(context) == "":
         use_internal_bus_gripper_comm = "false"
 
     robot_description_content = Command(
@@ -91,6 +92,9 @@ def launch_setup(context, *args, **kwargs):
             "fake_sensor_commands:=",
             fake_sensor_commands,
             " ",
+            "vision:=",
+            vision,
+            " ",
             "gripper:=",
             gripper,
             " ",
@@ -300,6 +304,13 @@ def generate_launch_description():
         have to be updated.",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "vision",
+            default_value="false",
+            description="Is vision module (camera) present on the robot?", 
+        )
+    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "gripper",
diff --git a/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro
index 2d890845c..bd5df87e3 100644
--- a/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro
+++ b/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro
@@ -51,7 +51,7 @@
           <param name="connection_inactivity_timeout_ms">${connection_inactivity_timeout_ms}</param>
           <param name="tf_prefix">"${tf_prefix}"</param>
           <param name="use_internal_bus_gripper_comm">${use_internal_bus_gripper_comm}</param>
-          <param name="gripper_joint_name">${gripper_joint_name}</param>
+          <param name="gripper_joint_name">${prefix}${gripper_joint_name}</param>
           <param name="gripper_max_velocity">${gripper_max_velocity}</param>
           <param name="gripper_max_force">${gripper_max_force}</param>
         </xacro:unless>
diff --git a/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro
index 6dc5f1339..db712ba80 100644
--- a/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro
+++ b/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro
@@ -51,7 +51,7 @@
           <param name="connection_inactivity_timeout_ms">${connection_inactivity_timeout_ms}</param>
           <param name="tf_prefix">"${tf_prefix}"</param>
           <param name="use_internal_bus_gripper_comm">${use_internal_bus_gripper_comm}</param>
-          <param name="gripper_joint_name">${gripper_joint_name}</param>
+          <param name="gripper_joint_name">${prefix}${gripper_joint_name}</param>
           <param name="gripper_max_velocity">${gripper_max_velocity}</param>
           <param name="gripper_max_force">${gripper_max_force}</param>
         </xacro:unless>