Use mobile_manipulator launch file with real robots.

* Update joystick launch configuration and install additional packages

Signed-off-by: Max Waterhout <max.waterhout@hotmail.nl>

* Update launch configurations and dependencies for improved robot control

Signed-off-by: Max Waterhout <max.waterhout@hotmail.nl>

---------

Signed-off-by: Max Waterhout <max.waterhout@hotmail.nl>

Author: MaxWaterhout

.devcontainer/docker-compose.yml

@@ -13,6 +13,8 @@ services:
     tty: true
     env_file:
       - .env
+    group_add:
+      - "106"
     volumes:
       - "/tmp/.X11-unix:/tmp/.X11-unix"
       - "${HOME}/.vscode-server:/home/rcdt/.vscode-server"

ros2_ws/src/rcdt_franka/launch/controllers.launch.py

@@ -54,7 +54,7 @@ def launch_setup(context: LaunchContext) -> list:
             name="fr3_gripper",
             parameters=[
                 {
-                    "robot_ip": "172.16.0.2",
+                    "robot_ip": "10.15.20.4",
                     "joint_names": ["fr3_finger_joint1", "fr3_finger_joint2"],
                 },
                 gripper_config,

ros2_ws/src/rcdt_franka/launch/core.launch.py

@@ -85,7 +85,9 @@ def launch_setup(context: LaunchContext) -> list:
     return [
         SetParameter(name="use_sim_time", value=use_sim),
         Register.on_start(robot_state_publisher, context),
-        Register.group(robot, context) if not is_mobile_manipulator else SKIP,
+        Register.group(robot, context)
+        if not is_mobile_manipulator or not use_sim
+        else SKIP,
         Register.on_log(static_transform_publisher, "publishing transform", context)
         if not is_mobile_manipulator
         else SKIP,

ros2_ws/src/rcdt_franka/urdf/franka.urdf.xacro

@@ -18,7 +18,7 @@ SPDX-License-Identifier: Apache-2.0
     arm_id="fr3"
     ee_id="franka_hand"
     ros2_control="true"
-    robot_ip="172.16.0.2"
+    robot_ip="10.15.20.4"
     joint_limits="${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')}"
     inertials="${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')}"
     kinematics="${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')}"

ros2_ws/src/rcdt_mobile_manipulator/launch/core.launch.py

@@ -5,7 +5,7 @@
 from launch import LaunchContext, LaunchDescription
 from launch.actions import OpaqueFunction
 from launch_ros.actions import Node, SetParameter
-from rcdt_utilities.launch_utils import LaunchArgument, get_file_path
+from rcdt_utilities.launch_utils import SKIP, LaunchArgument, get_file_path
 from rcdt_utilities.register import Register, RegisteredLaunchDescription
 
 use_sim_arg = LaunchArgument("simulation", True, [True, False])
@@ -30,12 +30,15 @@ def launch_setup(context: LaunchContext) -> list:
 
     franka_core = RegisteredLaunchDescription(
         get_file_path("rcdt_franka", ["launch"], "core.launch.py"),
-        launch_arguments={"parent": "panther"},
+        launch_arguments={"parent": "panther", "simulation": str(use_sim)},
     )
 
     panther_core = RegisteredLaunchDescription(
         get_file_path("rcdt_panther", ["launch"], "core.launch.py"),
-        launch_arguments={"child": "franka"},
+        launch_arguments={
+            "child": "franka",
+            "simulation": str(use_sim),
+        },
     )
 
     robots = [
@@ -74,7 +77,7 @@ def launch_setup(context: LaunchContext) -> list:
         SetParameter(name="use_sim_time", value=use_sim),
         Register.group(franka_core, context),
         Register.group(panther_core, context),
-        Register.group(robot, context),
+        Register.group(robot, context) if use_sim else SKIP,
         Register.on_log(static_transform_publisher, "publishing transform", context),
     ]
 

ros2_ws/src/rcdt_mobile_manipulator/launch/mobile_manipulator.launch.py

@@ -39,6 +39,7 @@ def launch_setup(context: LaunchContext) -> list:
 
     franka_controllers = RegisteredLaunchDescription(
         get_file_path("rcdt_franka", ["launch"], "controllers.launch.py"),
+        launch_arguments={"simulation": str(use_sim)},
     )
 
     panther_controllers = RegisteredLaunchDescription(
@@ -80,10 +81,10 @@ def launch_setup(context: LaunchContext) -> list:
     )
 
     return [
-        SetParameter(name="use_sim_time", value=True),
+        SetParameter(name="use_sim_time", value=use_sim),
         Register.group(core, context),
         Register.group(franka_controllers, context),
-        Register.group(panther_controllers, context),
+        Register.group(panther_controllers, context) if use_sim else SKIP,
         Register.group(gripper_services, context),
         Register.group(moveit, context),
         Register.group(joystick, context),