Replace duplicated prefix parameter with tf_prefix

Author: Felix Exner

launch/view_ur.launch.py

@@ -86,7 +86,7 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "prefix",
+            "tf_prefix",
             default_value='""',
             description="Prefix of the joint names, useful for \
         multi-robot setup. If changed than also joint names in the controllers' configuration \
@@ -102,7 +102,7 @@ def generate_launch_description():
     # General arguments
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
-    prefix = LaunchConfiguration("prefix")
+    tf_prefix = LaunchConfiguration("tf_prefix")
 
     robot_description_content = Command(
         [
@@ -125,8 +125,8 @@ def generate_launch_description():
             "ur_type:=",
             ur_type,
             " ",
-            "prefix:=",
-            prefix,
+            "tf_prefix:=",
+            tf_prefix,
         ]
     )
     robot_description = {"robot_description": robot_description_content}

urdf/ur.ros2_control.xacro

@@ -3,7 +3,6 @@
 
   <xacro:macro name="ur_ros2_control" params="
     name
-    prefix
     use_fake_hardware:=false fake_sensor_commands:=false
     sim_gazebo:=false
     sim_ignition:=false
@@ -39,7 +38,6 @@
         </xacro:if>
         <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_ignition}">
           <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
-          <param name="prefix">${prefix}</param>
           <param name="robot_ip">${robot_ip}</param>
           <param name="script_filename">${script_filename}</param>
           <param name="output_recipe_filename">${output_recipe_filename}</param>
@@ -67,7 +65,7 @@
           <param name="keep_alive_count">${keep_alive_count}</param>
         </xacro:unless>
       </hardware>
-      <joint name="${prefix}shoulder_pan_joint">
+      <joint name="${tf_prefix}shoulder_pan_joint">
         <command_interface name="position">
           <param name="min">{-2*pi}</param>
           <param name="max">{2*pi}</param>
@@ -83,7 +81,7 @@
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
       </joint>
-      <joint name="${prefix}shoulder_lift_joint">
+      <joint name="${tf_prefix}shoulder_lift_joint">
         <command_interface name="position">
           <param name="min">{-2*pi}</param>
           <param name="max">{2*pi}</param>
@@ -99,7 +97,7 @@
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
       </joint>
-      <joint name="${prefix}elbow_joint">
+      <joint name="${tf_prefix}elbow_joint">
         <command_interface name="position">
           <param name="min">{-pi}</param>
           <param name="max">{pi}</param>
@@ -115,7 +113,7 @@
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
       </joint>
-      <joint name="${prefix}wrist_1_joint">
+      <joint name="${tf_prefix}wrist_1_joint">
         <command_interface name="position">
           <param name="min">{-2*pi}</param>
           <param name="max">{2*pi}</param>
@@ -131,7 +129,7 @@
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
       </joint>
-      <joint name="${prefix}wrist_2_joint">
+      <joint name="${tf_prefix}wrist_2_joint">
         <command_interface name="position">
           <param name="min">{-2*pi}</param>
           <param name="max">{2*pi}</param>
@@ -147,7 +145,7 @@
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
       </joint>
-      <joint name="${prefix}wrist_3_joint">
+      <joint name="${tf_prefix}wrist_3_joint">
         <command_interface name="position">
           <param name="min">{-2*pi}</param>
           <param name="max">{2*pi}</param>
@@ -165,7 +163,7 @@
       </joint>
 
       <xacro:unless value="${sim_gazebo or sim_ignition}">
-        <sensor name="${prefix}tcp_fts_sensor">
+        <sensor name="${tf_prefix}tcp_fts_sensor">
           <state_interface name="force.x"/>
           <state_interface name="force.y"/>
           <state_interface name="force.z"/>
@@ -175,14 +173,14 @@
         </sensor>
 
         <!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
-        <gpio name="${prefix}speed_scaling">
+        <gpio name="${tf_prefix}speed_scaling">
           <state_interface name="speed_scaling_factor"/>
           <param name="initial_speed_scaling_factor">1</param>
           <command_interface name="target_speed_fraction_cmd"/>
           <command_interface name="target_speed_fraction_async_success"/>
         </gpio>
 
-        <gpio name="${prefix}gpio">
+        <gpio name="${tf_prefix}gpio">
           <command_interface name="standard_digital_output_cmd_0"/>
           <command_interface name="standard_digital_output_cmd_1"/>
           <command_interface name="standard_digital_output_cmd_2"/>
@@ -291,25 +289,25 @@
           <state_interface name="program_running"/>
         </gpio>
 
-        <gpio name="${prefix}payload">
+        <gpio name="${tf_prefix}payload">
           <command_interface name="mass"/>
           <command_interface name="cog.x"/>
           <command_interface name="cog.y"/>
           <command_interface name="cog.z"/>
           <command_interface name="payload_async_success"/>
         </gpio>
 
-        <gpio name="${prefix}resend_robot_program">
+        <gpio name="${tf_prefix}resend_robot_program">
           <command_interface name="resend_robot_program_cmd"/>
           <command_interface name="resend_robot_program_async_success"/>
         </gpio>
 
-        <gpio name="${prefix}zero_ftsensor">
+        <gpio name="${tf_prefix}zero_ftsensor">
           <command_interface name="zero_ftsensor_cmd"/>
           <command_interface name="zero_ftsensor_async_success"/>
         </gpio>
 
-        <gpio name="${prefix}system_interface">
+        <gpio name="${tf_prefix}system_interface">
           <state_interface name="initialized"/>
         </gpio>
 

urdf/ur.urdf.xacro

@@ -10,7 +10,7 @@
    <xacro:arg name="ur_type" default="ur5x"/>
 
    <!-- parameters -->
-   <xacro:arg name="prefix" default="" />
+   <xacro:arg name="tf_prefix" default="" />
    <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/>
    <xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
    <xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
@@ -57,7 +57,7 @@
    <!-- arm -->
    <xacro:ur_robot
      name="$(arg name)"
-     prefix="$(arg prefix)"
+     tf_prefix="$(arg tf_prefix)"
      parent="world"
      joint_limits_parameters_file="$(arg joint_limit_params)"
      kinematics_parameters_file="$(arg kinematics_params)"
@@ -110,7 +110,7 @@
     <gazebo>
       <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
         <parameters>$(arg simulation_controllers)</parameters>
-        <controller_manager_node_name>$(arg prefix)controller_manager</controller_manager_node_name>
+        <controller_manager_node_name>$(arg tf_prefix)controller_manager</controller_manager_node_name>
       </plugin>
     </gazebo>
   </xacro:if>