Make check_starting_point of test_move launch files configurable (#1354)

This should allow to use them in situations, where the robot is not at
the preconfigured pose, but users understand the risks and want to
circumvent this.

Also, I updated the documentation around this.

Author: urfeex

ur_robot_driver/config/test_goal_publishers_config.yaml

@@ -22,7 +22,6 @@ publisher_scaled_joint_trajectory_controller:
       - wrist_2_joint
       - wrist_3_joint
 
-    check_starting_point: true
     starting_point_limits:
       shoulder_pan_joint: [-0.1,0.1]
       shoulder_lift_joint: [-1.6,-1.5]
@@ -55,7 +54,6 @@ publisher_joint_trajectory_controller:
       - wrist_2_joint
       - wrist_3_joint
 
-    check_starting_point: true
     starting_point_limits:
       shoulder_pan_joint: [-0.1,0.1]
       shoulder_lift_joint: [-1.6,-1.5]

ur_robot_driver/doc/usage/move.rst

@@ -16,6 +16,21 @@ First check the controllers' state using ``ros2 control list_controllers``, befo
 
   The robot should move, after a few seconds.
 
+  .. note::
+     By default, the robot's pose is checked for being close to a predefined configuration in order
+     to make sure that the robot doesn't perform any large, unexpected motions. This configuration
+     is specified in the ``config/test_goal_publishers.yaml`` config file of the
+     ``ur_robot_driver`` package. The joint values are
+
+     .. code-block:: yaml
+
+        shoulder_pan_joint: 0
+        shoulder_lift_joint: -1.57
+        elbow_joint: 0
+        wrist_1_joint: -1.57
+        wrist_2_joint: 0
+        wrist_3_joint: 0
+
 * To test another controller, simply define it using ``initial_joint_controller`` argument, for example when using mock hardware:
 
   .. code-block:: console

ur_robot_driver/launch/test_joint_trajectory_controller.launch.py

@@ -32,24 +32,41 @@
 # Description: After a robot has been loaded, this will execute a series of trajectories.
 
 from launch import LaunchDescription
-from launch.substitutions import PathJoinSubstitution
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.actions import DeclareLaunchArgument
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
     position_goals = PathJoinSubstitution(
-        [FindPackageShare("ur_robot_driver"), "config", "test_goal_publishers_config.yaml"]
+        [
+            FindPackageShare("ur_robot_driver"),
+            "config",
+            "test_goal_publishers_config.yaml",
+        ]
     )
 
+    check_starting_point = LaunchConfiguration("check_starting_point")
+
     return LaunchDescription(
         [
+            DeclareLaunchArgument(
+                "check_starting_point",
+                default_value="true",
+                description="Verify that the robot is at a preconfigured pose in order to avoid large unexpected motions.",
+            ),
             Node(
                 package="ros2_controllers_test_nodes",
                 executable="publisher_joint_trajectory_controller",
                 name="publisher_joint_trajectory_controller",
-                parameters=[position_goals],
+                parameters=[
+                    position_goals,
+                    {
+                        "check_starting_point": check_starting_point,
+                    },
+                ],
                 output="screen",
-            )
+            ),
         ]
     )

ur_robot_driver/launch/test_scaled_joint_trajectory_controller.launch.py

@@ -32,24 +32,41 @@
 # Description: After a robot has been loaded, this will execute a series of trajectories.
 
 from launch import LaunchDescription
-from launch.substitutions import PathJoinSubstitution
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.actions import DeclareLaunchArgument
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
     position_goals = PathJoinSubstitution(
-        [FindPackageShare("ur_robot_driver"), "config", "test_goal_publishers_config.yaml"]
+        [
+            FindPackageShare("ur_robot_driver"),
+            "config",
+            "test_goal_publishers_config.yaml",
+        ]
     )
 
+    check_starting_point = LaunchConfiguration("check_starting_point")
+
     return LaunchDescription(
         [
+            DeclareLaunchArgument(
+                "check_starting_point",
+                default_value="true",
+                description="Verify that the robot is at a preconfigured pose in order to avoid large unexpected motions.",
+            ),
             Node(
                 package="ros2_controllers_test_nodes",
                 executable="publisher_joint_trajectory_controller",
                 name="publisher_scaled_joint_trajectory_controller",
-                parameters=[position_goals],
+                parameters=[
+                    position_goals,
+                    {
+                        "check_starting_point": check_starting_point,
+                    },
+                ],
                 output="screen",
-            )
+            ),
         ]
     )