Skip to content

ur_moveit_config: Do not change default controller when using fake hardware #1237

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Jan 16, 2025
Merged

ur_moveit_config: Do not change default controller when using fake hardware #1237

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 1 addition & 12 deletions ur_moveit_config/launch/ur_moveit.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,15 +43,13 @@
FindExecutable,
LaunchConfiguration,
PathJoinSubstitution,
OrSubstitution,
)


def launch_setup(context, *args, **kwargs):

# Initialize Arguments
ur_type = LaunchConfiguration("ur_type")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
safety_limits = LaunchConfiguration("safety_limits")
safety_pos_margin = LaunchConfiguration("safety_pos_margin")
safety_k_position = LaunchConfiguration("safety_k_position")
Expand Down Expand Up @@ -179,9 +177,7 @@ def launch_setup(context, *args, **kwargs):
# Trajectory Execution Configuration
controllers_yaml = load_yaml("ur_moveit_config", "config/controllers.yaml")
# the scaled_joint_trajectory_controller does not work on fake hardware
change_controllers = context.perform_substitution(
OrSubstitution(use_fake_hardware, use_sim_time)
)
change_controllers = context.perform_substitution(use_sim_time)
if change_controllers == "true":
controllers_yaml["scaled_joint_trajectory_controller"]["default"] = False
controllers_yaml["joint_trajectory_controller"]["default"] = True
Expand Down Expand Up @@ -287,13 +283,6 @@ def generate_launch_description():
choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
)
)
declared_arguments.append(
DeclareLaunchArgument(
"use_fake_hardware",
default_value="false",
description="Indicate whether robot is running with fake hardware mirroring command to its states.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"safety_limits",
Expand Down
Loading