Maken check_starting_point of test_move launch files configurable

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/migration/kilted.rst

@@ -0,0 +1,17 @@
+:github_url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_robot_driver/doc/migration/kilted.rst
+
+ur_robot_driver
+^^^^^^^^^^^^^^^
+
+test_scaled_joint_trajectory_controller.launch.py has parameter check_starting_point
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+The ``test_scaled_joint_trajectory_controller.launch.py`` has a new parameter
+``check_starting_point``. This parameter is set to ``true`` by default. It checks if the robot is
+close to the starting configuration specified in the test's config file. If the check is enabled,
+the robot won't move until it is close to the starting configuration. If the check is disabled, the
+robot will start moving to the first waypoint independent of its current location. This is
+potentially dangerous, as it doesn't take any surroundings into account.
+
+The parameter was inside the config file before. With this change it can be disabled when starting
+the launch file directly.

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",
-            )
+            ),
         ]
     )