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add missing params in urdf (vision, prefix for gripper joint name) #308

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add missing params in urdf (vision, prefix for gripper joint name) #308

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9 changes: 9 additions & 0 deletions kortex_bringup/launch/gen3.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand Down Expand Up @@ -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")
Expand All @@ -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,
Expand Down
13 changes: 12 additions & 1 deletion kortex_bringup/launch/kortex_control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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")
Expand All @@ -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(
Expand Down Expand Up @@ -91,6 +92,9 @@ def launch_setup(context, *args, **kwargs):
"fake_sensor_commands:=",
fake_sensor_commands,
" ",
"vision:=",
vision,
" ",
"gripper:=",
gripper,
" ",
Expand Down Expand Up @@ -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",
Expand Down
2 changes: 1 addition & 1 deletion kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand Down
2 changes: 1 addition & 1 deletion kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand Down