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sea-basssea-bass
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Switch fake to mock in params for ros2_control update
1 parent 7c92525 commit 92567ee

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2 files changed

+42
-20
lines changed

2 files changed

+42
-20
lines changed

‎robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -20,8 +20,8 @@
2020
name="${name}" prefix="${prefix}"
2121
sim_ignition="${sim_ignition}"
2222
sim_isaac="${sim_isaac}"
23-
use_fake_hardware="${use_fake_hardware}"
24-
fake_sensor_commands="${fake_sensor_commands}"
23+
use_mock_hardware="${use_fake_hardware}"
24+
mock_sensor_commands="${fake_sensor_commands}"
2525
com_port="${com_port}"/>
2626
</xacro:if>
2727

‎robotiq_description/urdf/robotiq_gripper.ros2_control.xacro‎

Lines changed: 40 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -6,8 +6,8 @@
66
prefix
77
sim_ignition:=false
88
sim_isaac:=false
9-
use_fake_hardware:=false
10-
fake_sensor_commands:=false
9+
use_mock_hardware:=false
10+
mock_sensor_commands:=false
1111
com_port:=/dev/ttyUSB0">
1212

1313
<ros2_control name="${name}" type="system">
@@ -21,12 +21,12 @@
2121
<xacro:if value="${sim_ignition}">
2222
<plugin>ign_ros2_control/IgnitionSystem</plugin>
2323
</xacro:if>
24-
<xacro:if value="${use_fake_hardware}">
24+
<xacro:if value="${use_mock_hardware}">
2525
<plugin>mock_components/GenericSystem</plugin>
26-
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
26+
<param name="mock_sensor_commands">${mock_sensor_commands}</param>
2727
<param name="state_following_offset">0.0</param>
2828
</xacro:if>
29-
<xacro:unless value="${use_fake_hardware or sim_ignition or sim_isaac}">
29+
<xacro:unless value="${use_mock_hardware or sim_ignition or sim_isaac}">
3030
<plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
3131
<param name="gripper_closed_position">0.7929</param>
3232
<param name="COM_port">${com_port}</param>
@@ -42,58 +42,80 @@
4242
<state_interface name="position">
4343
<param name="initial_value">0.7929</param>
4444
</state_interface>
45-
<state_interface name="velocity"/>
45+
<state_interface name="velocity">
46+
<param name="initial_value">0.0</param>
47+
</state_interface>
4648
</joint>
4749
<!-- When simulating we need to include the rest of the gripper joints -->
48-
<xacro:if value="${use_fake_hardware or sim_isaac or sim_ignition}">
50+
<xacro:if value="${use_mock_hardware or sim_isaac or sim_ignition}">
4951
<joint name="${prefix}robotiq_85_right_knuckle_joint">
5052
<param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
5153
<param name="multiplier">-1</param>
5254
<xacro:unless value="${sim_ignition}">
5355
<command_interface name="position"/>
54-
<state_interface name="position"/>
55-
<state_interface name="velocity"/>
56+
<state_interface name="position">
57+
<param name="initial_value">-0.7929</param>
58+
</state_interface>
59+
<state_interface name="velocity">
60+
<param name="initial_value">0.0</param>
61+
</state_interface>
5662
</xacro:unless>
5763
</joint>
5864
<joint name="${prefix}robotiq_85_left_inner_knuckle_joint">
5965
<param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
6066
<param name="multiplier">1</param>
6167
<xacro:unless value="${sim_ignition}">
6268
<command_interface name="position"/>
63-
<state_interface name="position"/>
64-
<state_interface name="velocity"/>
69+
<state_interface name="position">
70+
<param name="initial_value">0.7929</param>
71+
</state_interface>
72+
<state_interface name="velocity">
73+
<param name="initial_value">0.0</param>
74+
</state_interface>
6575
</xacro:unless>
6676
</joint>
6777
<joint name="${prefix}robotiq_85_right_inner_knuckle_joint">
6878
<param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
6979
<param name="multiplier">-1</param>
7080
<xacro:unless value="${sim_ignition}">
7181
<command_interface name="position"/>
72-
<state_interface name="position"/>
73-
<state_interface name="velocity"/>
82+
<state_interface name="position">
83+
<param name="initial_value">-0.7929</param>
84+
</state_interface>
85+
<state_interface name="velocity">
86+
<param name="initial_value">0.0</param>
87+
</state_interface>
7488
</xacro:unless>
7589
</joint>
7690
<joint name="${prefix}robotiq_85_left_finger_tip_joint">
7791
<param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
7892
<param name="multiplier">-1</param>
7993
<xacro:unless value="${sim_ignition}">
8094
<command_interface name="position"/>
81-
<state_interface name="position"/>
82-
<state_interface name="velocity"/>
95+
<state_interface name="position">
96+
<param name="initial_value">-0.7929</param>
97+
</state_interface>
98+
<state_interface name="velocity">
99+
<param name="initial_value">0.0</param>
100+
</state_interface>
83101
</xacro:unless>
84102
</joint>
85103
<joint name="${prefix}robotiq_85_right_finger_tip_joint">
86104
<param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
87105
<param name="multiplier">1</param>
88106
<xacro:unless value="${sim_ignition}">
89107
<command_interface name="position"/>
90-
<state_interface name="position"/>
91-
<state_interface name="velocity"/>
108+
<state_interface name="position">
109+
<param name="initial_value">0.7929</param>
110+
</state_interface>
111+
<state_interface name="velocity">
112+
<param name="initial_value">0.0</param>
113+
</state_interface>
92114
</xacro:unless>
93115
</joint>
94116
</xacro:if>
95117

96-
<!-- Only add this with fake hardware mode -->
118+
<!-- Only add this with mock hardware mode -->
97119
<xacro:unless value="${sim_ignition or sim_isaac}">
98120
<gpio name="reactivate_gripper">
99121
<command_interface name="reactivate_gripper_cmd" />

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