Add tool voltage and zero ft sensor to command interface (UniversalRobots#38)

Added reverse ip and script command interface port as parameters

Author: urmahp

urdf/ur.ros2_control.xacro

@@ -16,7 +16,9 @@
     tool_voltage:=24 tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1
     tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 tool_device_name:=/tmp/ttyUR tool_tcp_port:=54321
     reverse_port:=50001
-    script_sender_port:=50002">
+    script_sender_port:=50002
+    reverse_ip:=0.0.0.0
+    script_command_port:=50004">
 
     <ros2_control name="${name}" type="system">
       <hardware>
@@ -40,6 +42,8 @@
           <param name="headless_mode">${headless_mode}</param>
           <param name="reverse_port">${reverse_port}</param>
           <param name="script_sender_port">${script_sender_port}</param>
+          <param name="reverse_ip">${reverse_ip}</param>
+          <param name="script_command_port">${script_command_port}</param>
           <param name="tf_prefix">"${tf_prefix}"</param>
           <param name="non_blocking_read">0</param>
           <param name="servoj_gain">2000</param>
@@ -194,6 +198,8 @@
           <command_interface name="standard_analog_output_cmd_0"/>
           <command_interface name="standard_analog_output_cmd_1"/>
 
+          <command_interface name="tool_voltage_cmd"/>
+
           <command_interface name="io_async_success"/>
 
           <state_interface name="digital_output_0"/>
@@ -291,6 +297,11 @@
           <command_interface name="resend_robot_program_async_success"/>
         </gpio>
 
+        <gpio name="zero_ftsensor">
+          <command_interface name="zero_ftsensor_cmd"/>
+          <command_interface name="zero_ftsensor_async_success"/>
+        </gpio>
+
         <gpio name="system_interface">
           <state_interface name="initialized"/>
         </gpio>

urdf/ur.urdf.xacro

@@ -25,6 +25,8 @@
    <xacro:arg name="script_filename" default=""/>
    <xacro:arg name="output_recipe_filename" default=""/>
    <xacro:arg name="input_recipe_filename" default=""/>
+   <xacro:arg name="reverse_ip" default="0.0.0.0"/>
+   <xacro:arg name="script_command_port" default="50004"/>
    <!--   tool communication related parameters-->
    <xacro:arg name="use_tool_communication" default="false" />
    <xacro:arg name="tool_voltage" default="24" />
@@ -84,6 +86,8 @@
      script_filename="$(arg script_filename)"
      output_recipe_filename="$(arg output_recipe_filename)"
      input_recipe_filename="$(arg input_recipe_filename)"
+     reverse_ip="$(arg reverse_ip)"
+     script_command_port="$(arg script_command_port)"
      >
      <origin xyz="0 0 0" rpy="0 0 0" />          <!-- position robot in the world -->
    </xacro:ur_robot>

urdf/ur_macro.xacro

@@ -86,7 +86,9 @@
     output_recipe_filename:=to_be_filled_by_ur_robot_driver
     input_recipe_filename:=to_be_filled_by_ur_robot_driver
     reverse_port:=50001
-    script_sender_port:=50002">
+    script_sender_port:=50002
+    reverse_ip:=0.0.0.0
+    script_command_port:=50004">
 
     <!-- Load configuration data from the provided .yaml files -->
     <xacro:read_model_data
@@ -125,6 +127,8 @@
       tool_tcp_port="${tool_tcp_port}"
       reverse_port="${reverse_port}"
       script_sender_port="${script_sender_port}"
+      reverse_ip="${reverse_ip}"
+      script_command_port="${script_command_port}"
       />
 
     <!-- Add URDF transmission elements (for ros_control) -->