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Tool param propagation #13

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Merged
merged 2 commits into from
Jan 28, 2022
Merged

Tool param propagation #13

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e484f6d
Propagate tool parameters.
livanov93 Jan 27, 2022
f997f2b
Parameters to xacro macro.
livanov93 Jan 27, 2022
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20 changes: 11 additions & 9 deletions urdf/ur.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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="${name}" type="system">
<hardware>
Expand Down Expand Up @@ -42,14 +44,14 @@
<param name="servoj_lookahead_time">0.03</param>
<param name="use_tool_communication">${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">
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19 changes: 18 additions & 1 deletion urdf/ur.urdf.xacro
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Expand Up @@ -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" />
Expand Down Expand Up @@ -54,7 +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>

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20 changes: 18 additions & 2 deletions urdf/ur_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -105,7 +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}" />-->
Expand Down