Skip to content

Commit b6be88d

Browse files
MarqRazzMarqRazz
authored
Merge pull request #6 from PickNikRobotics/pr-isaac_sim
Add sim_isaac and sim_ignition ros2_control xacro arg
2 parents 5c30ecc + 167e85a commit b6be88d

File tree

1 file changed

+64
-23
lines changed

1 file changed

+64
-23
lines changed

‎robotiq_description/urdf/robotiq_sim_gripper.ros2_control.xacro‎

Lines changed: 64 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -1,56 +1,97 @@
11
<?xml version="1.0"?>
22
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
33

4-
<xacro:macro name="robotiq_sim_gripper_ros2_control" params="name">
4+
<xacro:macro name="robotiq_sim_gripper_ros2_control"
5+
params="name sim_ignition:=false sim_isaac:=false use_fake_hardware:=true">
6+
57
<ros2_control name="${name}" type="system">
8+
<!-- Plugins -->
69
<hardware>
7-
<plugin>fake_components/GenericSystem</plugin>
10+
<xacro:if value="${sim_isaac}">
11+
<plugin>isaac_ros2_control/IsaacSystem</plugin>
12+
<param name="joint_commands_topic">/isaac_joint_commands</param>
13+
<param name="joint_states_topic">/isaac_joint_states</param>
14+
</xacro:if>
15+
<xacro:if value="${sim_ignition}">
16+
<plugin>ign_ros2_control/IgnitionSystem</plugin>
17+
</xacro:if>
18+
<xacro:if value="${use_fake_hardware}">
19+
<plugin>mock_components/GenericSystem</plugin>
20+
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
21+
<param name="state_following_offset">0.0</param>
22+
</xacro:if>
823
</hardware>
24+
25+
<!-- Joint interfaces -->
926
<joint name="robotiq_85_left_knuckle_joint">
10-
<param name="initial_position">0.7929</param>
27+
<!-- With Ignition, we have mimic joints, so we only need this command interface activated -->
28+
<xacro:if value="${sim_ignition}">
29+
<state_interface name="position">
30+
<param name="initial_value">0.2</param>
31+
</state_interface>
32+
</xacro:if>
33+
<xacro:unless value="${sim_ignition}">
34+
<param name="initial_position">0.7929</param>
35+
<state_interface name="position"/>
36+
</xacro:unless>
37+
1138
<command_interface name="position" />
12-
<state_interface name="position"/>
1339
<state_interface name="velocity"/>
1440
</joint>
1541
<joint name="robotiq_85_right_knuckle_joint">
1642
<param name="mimic">robotiq_85_left_knuckle_joint</param>
1743
<param name="multiplier">-1</param>
18-
<command_interface name="position"/>
19-
<state_interface name="position"/>
20-
<state_interface name="velocity"/>
44+
<xacro:unless value="${sim_ignition}">
45+
<command_interface name="position"/>
46+
<state_interface name="position"/>
47+
<state_interface name="velocity"/>
48+
</xacro:unless>
2149
</joint>
2250
<joint name="robotiq_85_left_inner_knuckle_joint">
2351
<param name="mimic">robotiq_85_left_knuckle_joint</param>
2452
<param name="multiplier">1</param>
25-
<command_interface name="position" />
26-
<state_interface name="position" />
27-
<state_interface name="velocity" />
53+
<xacro:unless value="${sim_ignition}">
54+
<command_interface name="position"/>
55+
<state_interface name="position"/>
56+
<state_interface name="velocity"/>
57+
</xacro:unless>
2858
</joint>
2959
<joint name="robotiq_85_right_inner_knuckle_joint">
3060
<param name="mimic">robotiq_85_left_knuckle_joint</param>
3161
<param name="multiplier">-1</param>
32-
<command_interface name="position" />
33-
<state_interface name="position" />
34-
<state_interface name="velocity" />
62+
<xacro:unless value="${sim_ignition}">
63+
<command_interface name="position"/>
64+
<state_interface name="position"/>
65+
<state_interface name="velocity"/>
66+
</xacro:unless>
3567
</joint>
3668
<joint name="robotiq_85_left_finger_tip_joint">
3769
<param name="mimic">robotiq_85_left_knuckle_joint</param>
3870
<param name="multiplier">-1</param>
39-
<command_interface name="position" />
40-
<state_interface name="position" />
41-
<state_interface name="velocity" />
71+
<xacro:unless value="${sim_ignition}">
72+
<command_interface name="position"/>
73+
<state_interface name="position"/>
74+
<state_interface name="velocity"/>
75+
</xacro:unless>
4276
</joint>
4377
<joint name="robotiq_85_right_finger_tip_joint">
4478
<param name="mimic">robotiq_85_left_knuckle_joint</param>
4579
<param name="multiplier">1</param>
46-
<command_interface name="position" />
47-
<state_interface name="position" />
48-
<state_interface name="velocity" />
80+
<xacro:unless value="${sim_ignition}">
81+
<command_interface name="position"/>
82+
<state_interface name="position"/>
83+
<state_interface name="velocity"/>
84+
</xacro:unless>
4985
</joint>
50-
<gpio name="reactivate_gripper">
51-
<command_interface name="reactivate_gripper_cmd" />
52-
<command_interface name="reactivate_gripper_response" />
53-
</gpio>
86+
87+
<!-- Only add this with fake hardware mode -->
88+
<xacro:unless value="${sim_ignition or sim_isaac}">
89+
<gpio name="reactivate_gripper">
90+
<command_interface name="reactivate_gripper_cmd" />
91+
<command_interface name="reactivate_gripper_response" />
92+
</gpio>
93+
</xacro:unless>
94+
5495
</ros2_control>
5596
</xacro:macro>
5697

0 commit comments

Comments
 (0)