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Support custom ROS2 system_interfaces #34

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Support custom ROS2 system_interfaces #34

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2 changes: 2 additions & 0 deletions urdf/ur.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@

<!-- Simulation parameters -->
<xacro:arg name="use_fake_hardware" default="false" />
<xacro:arg name="use_custom_simulator" default="false" />
<xacro:arg name="fake_sensor_commands" default="false" />
<xacro:arg name="sim_gazebo" default="false" />
<xacro:arg name="sim_ignition" default="false" />
Expand Down Expand Up @@ -66,6 +67,7 @@
safety_pos_margin="$(arg safety_pos_margin)"
safety_k_position="$(arg safety_k_position)"
use_fake_hardware="$(arg use_fake_hardware)"
use_custom_simulator="$(arg use_custom_simulator)"
fake_sensor_commands="$(arg fake_sensor_commands)"
sim_gazebo="$(arg sim_gazebo)"
sim_ignition="$(arg sim_ignition)"
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64 changes: 35 additions & 29 deletions urdf/ur_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,7 @@
safety_pos_margin:=0.15
safety_k_position:=20
use_fake_hardware:=false
use_custom_simulator:=false
fake_sensor_commands:=false
sim_gazebo:=false
sim_ignition:=false
Expand Down Expand Up @@ -97,35 +98,40 @@
force_abs_paths="${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}" prefix="${prefix}"
use_fake_hardware="${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=""
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="${script_sender_port}"
/>
<!-- Support custom simulators.
Users can specify their ros2_control and hardware tags inside their own robot description.
This allows them to implement their own system_interface. -->
<xacro:unless value="${use_custom_simulator}">
<!-- ros2 control include -->
<xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />
<!-- ros2 control instance -->
<xacro:ur_ros2_control
name="${name}" prefix="${prefix}"
use_fake_hardware="${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=""
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}"
/>
</xacro:unless>

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