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Make ros2_control tag generation optional in macro #121

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Merged
merged 1 commit into from
Dec 14, 2023
Merged

Make ros2_control tag generation optional in macro #121

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71 changes: 37 additions & 34 deletions urdf/ur_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,7 @@
kinematics_parameters_file
physical_parameters_file
visual_parameters_file
generate_ros2_control_tag:=true
transmission_hw_interface:=hardware_interface/PositionJointInterface
safety_limits:=false
safety_pos_margin:=0.15
Expand Down Expand Up @@ -104,40 +105,42 @@
force_abs_paths="${sim_gazebo or sim_ignition}"/>


<!-- ros2 control include -->
<xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />
<!-- ros2 control instance -->
<xacro:ur_ros2_control
name="${name}"
use_fake_hardware="${use_fake_hardware}"
initial_positions="${initial_positions}"
fake_sensor_commands="${fake_sensor_commands}"
headless_mode="${headless_mode}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
script_filename="${script_filename}"
output_recipe_filename="${output_recipe_filename}"
input_recipe_filename="${input_recipe_filename}"
tf_prefix="${tf_prefix}"
hash_kinematics="${kinematics_hash}"
robot_ip="${robot_ip}"
use_tool_communication="${use_tool_communication}"
tool_voltage="${tool_voltage}"
tool_parity="${tool_parity}"
tool_baud_rate="${tool_baud_rate}"
tool_stop_bits="${tool_stop_bits}"
tool_rx_idle_chars="${tool_rx_idle_chars}"
tool_tx_idle_chars="${tool_tx_idle_chars}"
tool_device_name="${tool_device_name}"
tool_tcp_port="${tool_tcp_port}"
reverse_port="${reverse_port}"
script_sender_port="${script_sender_port}"
reverse_ip="${reverse_ip}"
script_command_port="${script_command_port}"
trajectory_port="${trajectory_port}"
non_blocking_read="${non_blocking_read}"
keep_alive_count="${keep_alive_count}"
/>
<xacro:if value="${generate_ros2_control_tag}">
<!-- ros2 control include -->
<xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />
<!-- ros2 control instance -->
<xacro:ur_ros2_control
name="${name}"
use_fake_hardware="${use_fake_hardware}"
initial_positions="${initial_positions}"
fake_sensor_commands="${fake_sensor_commands}"
headless_mode="${headless_mode}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
script_filename="${script_filename}"
output_recipe_filename="${output_recipe_filename}"
input_recipe_filename="${input_recipe_filename}"
tf_prefix="${tf_prefix}"
hash_kinematics="${kinematics_hash}"
robot_ip="${robot_ip}"
use_tool_communication="${use_tool_communication}"
tool_voltage="${tool_voltage}"
tool_parity="${tool_parity}"
tool_baud_rate="${tool_baud_rate}"
tool_stop_bits="${tool_stop_bits}"
tool_rx_idle_chars="${tool_rx_idle_chars}"
tool_tx_idle_chars="${tool_tx_idle_chars}"
tool_device_name="${tool_device_name}"
tool_tcp_port="${tool_tcp_port}"
reverse_port="${reverse_port}"
script_sender_port="${script_sender_port}"
reverse_ip="${reverse_ip}"
script_command_port="${script_command_port}"
trajectory_port="${trajectory_port}"
non_blocking_read="${non_blocking_read}"
keep_alive_count="${keep_alive_count}"
/>
</xacro:if>

<!-- Add URDF transmission elements (for ros_control) -->
<!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
Expand Down