Start dashboard client from within the hardware interface

Author: MGBla

ur_robot_driver/include/ur_robot_driver/hardware_interface.h

@@ -21,6 +21,7 @@
  *
  * \author  Lovro Ivanov [email protected]
  * \author  Andy Zelenak [email protected]
+ * \author  Marvin Große Besselmann [email protected]
  * \date    2019-04-11
  *
  */
@@ -154,6 +155,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   double pausing_ramp_up_increment_;
 
   std::unique_ptr<urcl::UrDriver> ur_driver_;
+  std::unique_ptr<ur_robot_driver::DashboardClientROS> dashboard_client_;
 };
 }  // namespace ur_robot_driver
 

ur_robot_driver/src/hardware_interface.cpp

@@ -272,8 +272,12 @@ return_type URPositionHardwareInterface::start()
     tool_comm_setup->setTxIdleChars(tx_idle_chars);
   }
 
-  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Initializing driver...");
 
+  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Starting Dashboard Client");
+  rclcpp::Node::SharedPtr dashboard_node = rclcpp::Node::make_shared("ur_dashboard_client");
+  dashboard_client_.reset(new ur_robot_driver::DashboardClientROS(dashboard_node, robot_ip));
+
+  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Initializing driver...");
   try
   {
     ur_driver_ = std::make_unique<urcl::UrDriver>(

ur_ros2_control_demos/launch/ur5_e_system_position_only.launch.py

@@ -140,16 +140,5 @@ def generate_launch_description():
         },
     )
 
-    dashboard_client_node = Node(
-        package="ur_robot_driver",
-        executable="dashboard_client",
-        name="dashboard_client",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"robot_ip": "10.0.1.186"}
-        ]
-    )
-
-    return LaunchDescription([ros2_control_node, dashboard_client_node, rviz_node, robot_state_pub_node, static_tf])
+    return LaunchDescription([ros2_control_node, rviz_node, robot_state_pub_node, static_tf])