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ndunkelb-nasandunkelb-nasa
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Merge branch 'jazzy-devel' into on-the-fly-mjcf
2 parents 2fdf150 + b2bd43f commit c8f5cb1

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17 files changed

+102
-51
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17 files changed

+102
-51
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‎chonkur/chonkur_deploy/chonkur_deploy/launch_helpers.py‎

Lines changed: 7 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -42,20 +42,23 @@ def spawn_controller(
4242
"""
4343
inactive_flags = ["--inactive"] if inactive else []
4444

45+
namespace_args = []
46+
if namespace:
47+
namespace_args = ["--namespace", namespace]
48+
4549
return Node(
4650
package="controller_manager",
4751
executable="spawner",
4852
name=controller_name,
4953
arguments=[
54+
controller_name,
5055
"--controller-manager",
5156
controller_manager_name,
5257
"--controller-manager-timeout",
5358
str(timeout),
54-
"--namespace",
55-
namespace,
56-
controller_name,
5759
]
58-
+ inactive_flags,
60+
+ inactive_flags
61+
+ namespace_args,
5962
output="both",
6063
condition=condition,
6164
)

‎chonkur/chonkur_deploy/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@
77
Deploy package for chonkur
88
</description>
99
<maintainer email="emma.zemler@nasa.gov">Emma Zemler</maintainer>
10-
<license>Apache License, Version 2.0</license>
10+
<license>Apache-2.0</license>
1111

1212
<buildtool_depend>ament_cmake</buildtool_depend>
1313
<buildtool_depend>ament_cmake_python</buildtool_depend>

‎chonkur/chonkur_description/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@
77
URDF description for ChonkUR
88
</description>
99
<maintainer email="emma.zemler@nasa.gov">Emma Zemler</maintainer>
10-
<license>Apache License, Version 2.0</license>
10+
<license>Apache-2.0</license>
1111

1212
<buildtool_depend>ament_cmake</buildtool_depend>
1313

‎chonkur/chonkur_description/urdf/chonkur_macro.xacro‎

Lines changed: 35 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -35,36 +35,46 @@
3535
kinematics_parameters_file="$(find chonkur_description)/config/calibrated_kinematics.yaml"
3636
physical_parameters_file="$(find ur_description)/config/ur10e/physical_parameters.yaml"
3737
visual_parameters_file="$(find ur_description)/config/ur10e/visual_parameters.yaml"
38-
transmission_hw_interface="hardware_interface/PositionJointInterface"
3938
safety_limits="false"
4039
safety_pos_margin="0.15"
4140
safety_k_position="20"
42-
use_fake_hardware="${use_fake_hardware}"
43-
fake_sensor_commands="false"
44-
sim_gazebo="${sim_gazebo}"
45-
sim_ignition="${sim_ignition}"
46-
generate_ros2_control_tag="${generate_ros2_control_tag}"
47-
headless_mode="${headless_mode}"
48-
initial_positions="${xacro.load_yaml(initial_positions_file)}"
49-
use_tool_communication="false"
50-
tool_voltage="0"
51-
tool_parity="0"
52-
tool_baud_rate="115200"
53-
tool_stop_bits="1"
54-
tool_rx_idle_chars="1.5"
55-
tool_tx_idle_chars="3.5"
56-
tool_device_name="/tmp/ttyUR"
57-
tool_tcp_port="54321"
58-
robot_ip="${chonkur_ip}"
59-
script_filename="$(find ur_client_library)/resources/external_control.urscript"
60-
output_recipe_filename="$(find ur_robot_driver)/resources/rtde_output_recipe.txt"
61-
input_recipe_filename="$(find ur_robot_driver)/resources/rtde_input_recipe.txt"
62-
reverse_ip="0.0.0.0"
63-
script_command_port="50004"
6441
>
6542
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
6643
</xacro:ur_robot>
6744

45+
<xacro:if value="${generate_ros2_control_tag}">
46+
<xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro" />
47+
<xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" />
48+
<xacro:ur_ros2_control
49+
name="${ros2_control_name}"
50+
tf_prefix="${tf_prefix}"
51+
kinematics_parameters_file="$(find chonkur_description)/config/calibrated_kinematics.yaml"
52+
transmission_hw_interface="hardware_interface/PositionJointInterface"
53+
use_mock_hardware="$(arg use_fake_hardware)"
54+
mock_sensor_commands="$(arg use_fake_hardware)"
55+
headless_mode="${headless_mode}"
56+
initial_positions="${xacro.load_yaml(initial_positions_file)}"
57+
use_tool_communication="false"
58+
tool_voltage="0"
59+
tool_parity="0"
60+
tool_baud_rate="115200"
61+
tool_stop_bits="1"
62+
tool_rx_idle_chars="1.5"
63+
tool_tx_idle_chars="3.5"
64+
tool_device_name="/tmp/ttyUR"
65+
tool_tcp_port="54321"
66+
robot_ip="${chonkur_ip}"
67+
script_filename="$(find ur_client_library)/resources/external_control.urscript"
68+
output_recipe_filename="$(find ur_robot_driver)/resources/rtde_output_recipe.txt"
69+
input_recipe_filename="$(find ur_robot_driver)/resources/rtde_input_recipe.txt"
70+
reverse_ip="0.0.0.0"
71+
script_command_port="50004"
72+
reverse_port="50001"
73+
script_sender_port="50002"
74+
trajectory_port="50003"
75+
/>
76+
</xacro:if>
77+
6878
<xacro:if value="${sim_gazebo}">
6979
<!-- Gazebo plugins -->
7080
<gazebo reference="world">
@@ -88,6 +98,8 @@
8898
</gazebo>
8999
</xacro:if>
90100

101+
102+
91103
<!-- END EFFECTOR STACK -->
92104

93105
<xacro:include filename="$(find chonkur_description)/urdf/endeff_stack_macro.xacro"/>

‎chonkur/chonkur_moveit_config/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@
77
An automatically generated package with all the configuration and launch files for using the chonkur with the MoveIt Motion Planning Framework
88
</description>
99
<maintainer email="erik.holum@nasa.gov">Erik Holum</maintainer>
10-
<license>Apache License, Version 2.0</license>
10+
<license>Apache-2.0</license>
1111

1212
<buildtool_depend>ament_cmake</buildtool_depend>
1313

‎clr_deploy/launch/control.launch.py‎

Lines changed: 9 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -77,6 +77,13 @@ def generate_launch_description():
7777
"Must be in the 'urdf' folder of the description package.",
7878
)
7979
)
80+
declared_arguments.append(
81+
DeclareLaunchArgument(
82+
"control_node_package",
83+
default_value="controller_manager",
84+
description="To support mujoco, " "optionally launch a ros2_control_node from a different package.",
85+
)
86+
)
8087
declared_arguments.append(
8188
DeclareLaunchArgument(
8289
"model_env",
@@ -128,6 +135,7 @@ def generate_launch_description():
128135
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
129136
robot_description_package = LaunchConfiguration("robot_description_package")
130137
robot_description_file = LaunchConfiguration("robot_description_file")
138+
control_node_package = LaunchConfiguration("control_node_package")
131139
model_env = LaunchConfiguration("model_env")
132140
use_sim_time = LaunchConfiguration("use_sim_time")
133141
is_sim = LaunchConfiguration("is_sim")
@@ -169,7 +177,7 @@ def generate_launch_description():
169177

170178
# # start the controller manager node with all of the controller config files
171179
control_node = Node(
172-
package="controller_manager",
180+
package=control_node_package,
173181
executable="ros2_control_node",
174182
namespace=namespace,
175183
# allow_substs allows tf_prefix to be pulled in

‎clr_deploy/package.xml‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@
77
Deploy package for ChonkUR L. Rail-E
88
</description>
99
<maintainer email="emma.zemler@nasa.gov">Emma Zemler</maintainer>
10-
<license>Apache License, Version 2.0</license>
10+
<license>Apache-2.0</license>
1111

1212
<buildtool_depend>ament_cmake</buildtool_depend>
1313
<buildtool_depend>ament_cmake_python</buildtool_depend>
@@ -20,6 +20,7 @@
2020
<exec_depend>ewellix_liftkit_deploy</exec_depend>
2121
<exec_depend>launch</exec_depend>
2222
<exec_depend>launch_ros</exec_depend>
23+
<!-- Pending https://github.com/RoboStack/ros-jazzy/pull/177 -->
2324
<exec_depend>realsense2_camera</exec_depend>
2425
<exec_depend>vention_rail_deploy</exec_depend>
2526

‎clr_description/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@
77
URDF description for ChonkUR L. Rail-E
88
</description>
99
<maintainer email="michael.e.tobia@nasa.gov">Michael Tobia</maintainer>
10-
<license>Apache License, Version 2.0</license>
10+
<license>Apache-2.0</license>
1111

1212
<buildtool_depend>ament_cmake</buildtool_depend>
1313

‎clr_imetro_environments/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@
77

88
<maintainer email="michael.e.tobia@nasa.gov">Mike Tobia</maintainer>
99

10-
<license>Apache License, Version 2.0</license>
10+
<license>Apache-2.0</license>
1111

1212
<buildtool_depend>ament_cmake</buildtool_depend>
1313

‎clr_moveit_config/config/joint_limits.yaml‎

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,10 @@
1010
default_robot_padding: 0.003 # This adds padding only between elements of the robot_description and scene objects. It does not work for self-collisions.
1111
joint_limits:
1212
ewellix_lift_lower_to_higher:
13+
has_position_limits: true
1314
has_velocity_limits: true
15+
# This is a very hacky solution to accommodate idiosycrasies in simulation.
16+
min_position: -0.001
1417
max_velocity: 0.03
1518
has_acceleration_limits: true
1619
max_acceleration: 0.02
@@ -126,7 +129,9 @@ joint_limits:
126129
has_position_limits: true
127130
has_velocity_limits: true
128131
max_effort: 130.0
129-
max_position: 0.025
130-
max_velocity: 0.15
132+
# This is greater than the limits in the URDF but within hardware limits.
133+
# Increased to support rounding errors in planning.
134+
max_position: 0.029
135+
max_velocity: 0.15
131136
min_position: 0.0
132137
max_acceleration: 1.0

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