[Feature] Fake Gripper Option in SSoT

robotiq_description/config/robotiq_2f_140_controllers.yaml

@@ -0,0 +1,20 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 500  # Hz
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+    robotiq_gripper_controller:
+      type: position_controllers/GripperActionController
+    robotiq_activation_controller:
+      type: robotiq_controllers/RobotiqActivationController
+
+robotiq_gripper_controller:
+  ros__parameters:
+    default: true
+    joint: finger_joint
+    use_effort_interface: true
+    use_speed_interface: true
+
+robotiq_activation_controller:
+  ros__parameters:
+    default: true

robotiq_description/launch/robotiq_control.launch.py

@@ -34,22 +34,44 @@
     PathJoinSubstitution,
 )
 from launch.conditions import IfCondition
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.parameter_descriptions import ParameterValue
 import launch_ros
 import os
 
 
 def generate_launch_description():
-    description_pkg_share = launch_ros.substitutions.FindPackageShare(
-        package="robotiq_description"
-    ).find("robotiq_description")
-    default_model_path = os.path.join(
-        description_pkg_share, "urdf", "robotiq_2f_85_gripper.urdf.xacro"
+    args = []
+    args.append(
+        launch.actions.DeclareLaunchArgument(
+            name="description_package",
+            default_value="robotiq_description",
+            description="Default description package with gripper URDF/XACRO files.",
+        )
     )
-    default_rviz_config_path = os.path.join(
-        description_pkg_share, "rviz", "view_urdf.rviz"
+    args.append(
+        launch.actions.DeclareLaunchArgument(
+            name="description_file",
+            default_value="robotiq_2f_85_gripper.urdf.xacro",
+            description="Gripper description file name located in the 'urdf' folder of the description_package.",
+        )
+    )
+
+    default_model_path = PathJoinSubstitution(
+        [
+            FindPackageShare(package=LaunchConfiguration("description_package")),
+            "urdf",
+            LaunchConfiguration("description_file"),
+        ]
+    )
+    default_rviz_config_path = PathJoinSubstitution(
+        [
+            FindPackageShare(package=LaunchConfiguration("description_package")),
+            "rviz",
+            "view_urdf.rviz",
+        ]
     )
 
-    args = []
     args.append(
         launch.actions.DeclareLaunchArgument(
             name="model",
@@ -76,17 +98,70 @@ def generate_launch_description():
             description="Port for communicating with Robotiq hardware",
         )
     )
+    args.append(
+        launch.actions.DeclareLaunchArgument(
+            name="parent",
+            default_value="world",
+            description="Parent link for the Robotiq gripper (default: world)",
+        )
+    )
+    args.append(
+        launch.actions.DeclareLaunchArgument(
+            name="origin",
+            default_value='"0 0 0 0 0 0"',
+            description="Gripper origin as 'x y z r p y' (default: 0 0 0 0 0 0)",
+        )
+    )
+    args.append(
+        launch.actions.DeclareLaunchArgument(
+            name="controllers_file",
+            default_value=PathJoinSubstitution(
+                [
+                    FindPackageShare(package=LaunchConfiguration("description_package")),
+                    "config",
+                    "robotiq_2f_85_controllers.yaml",
+                ]
+            ),
+            description="Path to the controller YAML file",
+        )
+    )
+
+    args.append(
+        launch.actions.DeclareLaunchArgument(
+            name="tf_prefix",
+            default_value="",
+            description="tf_prefix of the joint names, useful for multi-robot setup.",
+        )
+    )
 
+    args.append(
+        launch.actions.DeclareLaunchArgument(
+            name="use_fake_hardware",
+            default_value="false",
+            description="Use fake/mock hardware for simulation (set to 'true' for simulation).",
+        )
+    )
+
     robot_description_content = Command(
         [
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             LaunchConfiguration("model"),
             " ",
-            "use_fake_hardware:=false",
+            "use_fake_hardware:=",
+            LaunchConfiguration("use_fake_hardware"),
             " ",
             "com_port:=",
             LaunchConfiguration("com_port"),
+            " ",
+            "parent:=",
+            LaunchConfiguration("parent"),
+            " ",
+            "origin:=",
+            LaunchConfiguration("origin"),
+            " ",
+            "prefix:=",
+            LaunchConfiguration("tf_prefix"),
         ]
     )
 
@@ -98,24 +173,19 @@ def generate_launch_description():
 
     update_rate_config_file = PathJoinSubstitution(
         [
-            description_pkg_share,
+            FindPackageShare(package=LaunchConfiguration("description_package")),
             "config",
             "robotiq_update_rate.yaml",
         ]
     )
 
-    controllers_file = "robotiq_controllers.yaml"
-    initial_joint_controllers = PathJoinSubstitution(
-        [description_pkg_share, "config", controllers_file]
-    )
-
     control_node = launch_ros.actions.Node(
         package="controller_manager",
         executable="ros2_control_node",
         parameters=[
             robot_description_param,
             update_rate_config_file,
-            initial_joint_controllers,
+            LaunchConfiguration("controllers_file"),
         ],
     )
 
@@ -140,20 +210,28 @@ def generate_launch_description():
         arguments=[
             "joint_state_broadcaster",
             "--controller-manager",
-            "/controller_manager",
+            "controller_manager",
         ],
     )
 
     robotiq_gripper_controller_spawner = launch_ros.actions.Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["robotiq_gripper_controller", "-c", "/controller_manager"],
+        arguments=[
+            "robotiq_gripper_controller",
+            "--controller-manager",
+            "controller_manager",
+        ],
     )
 
     robotiq_activation_controller_spawner = launch_ros.actions.Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["robotiq_activation_controller", "-c", "/controller_manager"],
+        arguments=[
+            "robotiq_activation_controller",
+            "--controller-manager",
+            "controller_manager",
+        ],
     )
 
     nodes = [
@@ -165,4 +243,4 @@ def generate_launch_description():
         rviz_node,
     ]
 
-    return launch.LaunchDescription(args + nodes)
+    return launch.LaunchDescription(args + nodes)

robotiq_description/urdf/robotiq_2f_140_gripper.urdf.xacro

@@ -3,12 +3,19 @@
     <!-- parameters -->
     <xacro:arg name="use_fake_hardware" default="true" />
     <xacro:arg name="com_port" default="/dev/ttyUSB0" />
+    <xacro:arg name="parent" default="world" />
+    <xacro:arg name="origin" default="0 0 0 0 0 0" />
+    <xacro:arg name="prefix" default="" />
+    <!-- Split the origin into xyz and rpy -->
+    <xacro:property name="origin_clean" value="${'$(arg origin)'.replace('&quot;', '')}" />
+    <xacro:property name="origin_xyz" value="${origin_clean.split()[0:3]}" />
+    <xacro:property name="origin_rpy" value="${origin_clean.split()[3:6]}" />
 
     <!-- Import macros -->
     <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_140_macro.urdf.xacro" />
 
-    <link name="world" />
-    <xacro:robotiq_gripper name="RobotiqGripperHardwareInterface" prefix="" parent="world" use_fake_hardware="$(arg use_fake_hardware)" com_port="$(arg com_port)">
-        <origin xyz="0 0 0" rpy="0 0 0" />
+    <link name="$(arg parent)" />
+    <xacro:robotiq_gripper name="RobotiqGripperHardwareInterface" prefix="$(arg prefix)" parent="$(arg parent)" use_fake_hardware="$(arg use_fake_hardware)" com_port="$(arg com_port)">
+        <origin xyz="${' '.join(origin_xyz)}" rpy="${' '.join(origin_rpy)}" />
     </xacro:robotiq_gripper>
 </robot>

robotiq_description/urdf/robotiq_2f_85_gripper.urdf.xacro

@@ -3,12 +3,19 @@
     <!-- parameters -->
     <xacro:arg name="use_fake_hardware" default="true" />
     <xacro:arg name="com_port" default="/dev/ttyUSB0" />
+    <xacro:arg name="parent" default="world" />
+    <xacro:arg name="origin" default="0 0 0 0 0 0" />
+
+    <!-- Split the origin into xyz and rpy -->
+    <xacro:property name="origin_clean" value="${'$(arg origin)'.replace('&quot;', '')}" />
+    <xacro:property name="origin_xyz" value="${origin_clean.split()[0:3]}" />
+    <xacro:property name="origin_rpy" value="${origin_clean.split()[3:6]}" />
 
     <!-- Import macros -->
     <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />
 
-    <link name="world" />
-    <xacro:robotiq_gripper name="RobotiqGripperHardwareInterface" prefix="" parent="world" use_fake_hardware="$(arg use_fake_hardware)" com_port="$(arg com_port)">
-        <origin xyz="0 0 0" rpy="0 0 0" />
+    <link name="$(arg parent)" />
+    <xacro:robotiq_gripper name="RobotiqGripperHardwareInterface" prefix="" parent="$(arg parent)" use_fake_hardware="$(arg use_fake_hardware)" com_port="$(arg com_port)">
+        <origin xyz="${' '.join(origin_xyz)}" rpy="${' '.join(origin_rpy)}" />
     </xacro:robotiq_gripper>
 </robot>