From e484f6d516774a5b33d31caff9ae2f13f9e71f80 Mon Sep 17 00:00:00 2001
From: Lovro <lovro.ivanov@gmail.com>
Date: Thu, 27 Jan 2022 17:29:50 +0100
Subject: [PATCH 1/2] Propagate tool parameters.

---
 urdf/ur.ros2_control.xacro | 20 +++++++++++---------
 urdf/ur.urdf.xacro         |  9 +++++++++
 urdf/ur_macro.xacro        | 10 +++++++++-
 3 files changed, 29 insertions(+), 10 deletions(-)

diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index 6a546ef..bac1b45 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/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">
diff --git a/urdf/ur.urdf.xacro b/urdf/ur.urdf.xacro
index 0868b96..379e5b6 100644
--- a/urdf/ur.urdf.xacro
+++ b/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" />
diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro
index 73c996c..6036274 100644
--- a/urdf/ur_macro.xacro
+++ b/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

From f997f2b2c64f2d494833436f181ecdd20ba88132 Mon Sep 17 00:00:00 2001
From: Lovro <lovro.ivanov@gmail.com>
Date: Thu, 27 Jan 2022 18:10:01 +0100
Subject: [PATCH 2/2] Parameters to xacro macro.

---
 urdf/ur.urdf.xacro  | 12 ++++++++++--
 urdf/ur_macro.xacro | 10 +++++++++-
 2 files changed, 19 insertions(+), 3 deletions(-)

diff --git a/urdf/ur.urdf.xacro b/urdf/ur.urdf.xacro
index 379e5b6..cf6d235 100644
--- a/urdf/ur.urdf.xacro
+++ b/urdf/ur.urdf.xacro
@@ -17,7 +17,7 @@
    <xacro:arg name="safety_k_position" default="20"/>
    <!-- ros2_control related parameters -->
    <xacro:arg name="headless_mode" default="false" />
-<!--   tool communication related parameters-->
+   <!--   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" />
@@ -63,7 +63,15 @@
      sim_ignition="$(arg sim_ignition)"
      headless_mode="$(arg headless_mode)"
      initial_positions="${load_yaml(initial_positions_file)}"
-     use_tool_communication="$(arg use_tool_communication)" >
+     use_tool_communication="$(arg use_tool_communication)"
+     tool_voltage="$(arg tool_voltage)"
+     tool_parity="$(arg tool_parity)"
+     tool_baud_rate="$(arg tool_baud_rate)"
+     tool_stop_bits="$(arg tool_stop_bits)"
+     tool_rx_idle_chars="$(arg tool_rx_idle_chars)"
+     tool_tx_idle_chars="$(arg tool_tx_idle_chars)"
+     tool_device_name="$(arg tool_device_name)"
+     tool_tcp_port="$(arg tool_tcp_port)" >
      <origin xyz="0 0 0" rpy="0 0 0" />          <!-- position robot in the world -->
    </xacro:ur_robot>
 
diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro
index 6036274..34ca5f5 100644
--- a/urdf/ur_macro.xacro
+++ b/urdf/ur_macro.xacro
@@ -113,7 +113,15 @@
       tf_prefix=""
       hash_kinematics="${kinematics_hash}"
       robot_ip="$(arg robot_ip)"
-      use_tool_communication="${use_tool_communication}"/>
+      use_tool_communication="${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}"/>
 
     <!-- Add URDF transmission elements (for ros_control) -->
     <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->