Propagate tool parameters.

Author: livanov93

urdf/ur.ros2_control.xacro

@@ -12,7 +12,9 @@
     use_tool_communication:=false
     script_filename output_recipe_filename
     input_recipe_filename tf_prefix
-    hash_kinematics robot_ip">
+    hash_kinematics robot_ip
+    tool_voltage:=24 tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1
+    tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 tool_device_name:=/tmp/ttyUR tool_tcp_port:=54321">
 
     <ros2_control name="${name}" type="system">
       <hardware>
@@ -42,14 +44,14 @@
           <param name="servoj_lookahead_time">0.03</param>
           <param name="use_tool_communication">${use_tool_communication}</param>
           <param name="kinematics/hash">${hash_kinematics}</param>
-          <param name="tool_voltage">0</param>
-          <param name="tool_parity">0</param>
-          <param name="tool_baud_rate">115200</param>
-          <param name="tool_stop_bits">1</param>
-          <param name="tool_rx_idle_chars">1.5</param>
-          <param name="tool_tx_idle_chars">3.5</param>
-          <param name="tool_device_name">/tmp/ttyUR</param>
-          <param name="tool_tcp_port">54321</param>
+          <param name="tool_voltage">${tool_voltage}</param>
+          <param name="tool_parity">${tool_parity}</param>
+          <param name="tool_baud_rate">${tool_baud_rate}</param>
+          <param name="tool_stop_bits">${tool_stop_bits}</param>
+          <param name="tool_rx_idle_chars">${tool_rx_idle_chars}</param>
+          <param name="tool_tx_idle_chars">${tool_tx_idle_chars}</param>
+          <param name="tool_device_name">${tool_device_name}</param>
+          <param name="tool_tcp_port">${tool_tcp_port}</param>
         </xacro:unless>
       </hardware>
       <joint name="${prefix}shoulder_pan_joint">

urdf/ur.urdf.xacro

@@ -17,7 +17,16 @@
    <xacro:arg name="safety_k_position" default="20"/>
    <!-- ros2_control related parameters -->
    <xacro:arg name="headless_mode" default="false" />
+<!--   tool communication related parameters-->
    <xacro:arg name="use_tool_communication" default="false" />
+   <xacro:arg name="tool_voltage" default="24" />
+   <xacro:arg name="tool_parity" default="0" />
+   <xacro:arg name="tool_baud_rate" default="115200" />
+   <xacro:arg name="tool_stop_bits" default="1" />
+   <xacro:arg name="tool_rx_idle_chars" default="1.5" />
+   <xacro:arg name="tool_tx_idle_chars" default="3.5" />
+   <xacro:arg name="tool_device_name" default="/tmp/ttyUR" />
+   <xacro:arg name="tool_tcp_port" default="54321" />
 
      <!-- Simulation parameters -->
    <xacro:arg name="use_fake_hardware" default="false" />

urdf/ur_macro.xacro

@@ -72,7 +72,15 @@
     sim_ignition:=false
     headless_mode:=false
     initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
-    use_tool_communication:=false">
+    use_tool_communication:=false
+    tool_voltage:=24
+    tool_parity:=0
+    tool_baud_rate:=115200
+    tool_stop_bits:=1
+    tool_rx_idle_chars:=1.5
+    tool_tx_idle_chars:=3.5
+    tool_device_name:=/tmp/ttyUR
+    tool_tcp_port:=54321" >
 
     <!-- Load configuration data from the provided .yaml files -->
     <xacro:read_model_data