Fix hwif names

examples/iiqka_moveit_example/config/dummy_impedance_publisher.yaml

@@ -7,9 +7,9 @@
     damping_goals: [0.7, 0.0, 0.7, 0.7, 0.7, 0.7]
 
     joints:
-      - joint_a1
-      - joint_a2
-      - joint_a3
-      - joint_a4
-      - joint_a5
-      - joint_a6
+      - joint_1
+      - joint_2
+      - joint_3
+      - joint_4
+      - joint_5
+      - joint_6

examples/iiqka_moveit_example/config/dummy_publisher.yaml

@@ -15,11 +15,11 @@
       positions: [-0.2, -1.57, -0.2, -0.2, -0.2, -0.2]
 
     joints:
-      - joint_a1
-      - joint_a2
-      - joint_a3
-      - joint_a4
-      - joint_a5
-      - joint_a6
+      - joint_1
+      - joint_2
+      - joint_3
+      - joint_4
+      - joint_5
+      - joint_6
 
     check_starting_point: false

examples/iiqka_moveit_example/config/moveit_controllers.yaml

@@ -15,10 +15,10 @@ moveit_simple_controller_manager:
     type: FollowJointTrajectory
     default: true
     joints:
-      - joint_a1
-      - joint_a2
-      - joint_a3
-      - joint_a4
-      - joint_a5
-      - joint_a6
+      - joint_1
+      - joint_2
+      - joint_3
+      - joint_4
+      - joint_5
+      - joint_6
 

examples/iiqka_moveit_example/launch/moveit_planning_example.launch.py

@@ -41,7 +41,7 @@ def launch_setup(context, *args, **kwargs):
     )
 
     rviz_config_file = get_package_share_directory(
-        'kuka_lbr_iisy_moveit_config') + "/config/urdf_planning_scene.rviz"
+        'kuka_resources') + "/config/view_6_axis_urdf.rviz"
 
     startup_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource(
         [get_package_share_directory('kuka_iiqka_eac_driver'), '/launch/startup.launch.py']),

kuka_drivers/package.xml

@@ -18,6 +18,7 @@
   <exec_depend>kuka_kss_rsi_driver</exec_depend>
   <exec_depend>kuka_sunrise_fri_driver</exec_depend>
   <exec_depend>iiqka_moveit_example</exec_depend>
+  <exec_depend>kuka_rsi_simulator</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

kuka_iiqka_eac_driver/CMakeLists.txt

@@ -71,11 +71,16 @@ else()
   remove_definitions(-DNON_MOCK_SETUP)
 endif()
 
-add_library(kuka_iiqka_eac_driver SHARED
+add_library(${PROJECT_NAME} SHARED
   src/hardware_interface.cpp
 )
-ament_target_dependencies(kuka_iiqka_eac_driver rclcpp sensor_msgs hardware_interface)
-target_link_libraries(kuka_iiqka_eac_driver motion-external-proto-api-nanopb motion-services-ecs-proto-api-cpp
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${PROJECT_NAME} PRIVATE "KUKA_IIQKA_EAC_DRIVER_BUILDING_LIBRARY")
+
+ament_target_dependencies(${PROJECT_NAME} rclcpp sensor_msgs hardware_interface)
+target_link_libraries(${PROJECT_NAME} motion-external-proto-api-nanopb motion-services-ecs-proto-api-cpp
   motion-services-ecs-proto-api-nanopb yaml-cpp kuka::os-core-udp-communication kuka::nanopb-helpers)
 
 
@@ -86,7 +91,7 @@ target_link_libraries(robot_manager_node kuka_drivers_core::communication_helper
 
 pluginlib_export_plugin_description_file(hardware_interface hardware_interface.xml)
 
-install(TARGETS kuka_iiqka_eac_driver robot_manager_node
+install(TARGETS ${PROJECT_NAME} robot_manager_node
   DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY config launch

kuka_iiqka_eac_driver/config/effort_controller_config.yaml

@@ -1,34 +1,34 @@
 effort_controller:
   ros__parameters:
     joints: 
-    - joint_a1
-    - joint_a2
-    - joint_a3
-    - joint_a4
-    - joint_a5
-    - joint_a6
+    - joint_1
+    - joint_2
+    - joint_3
+    - joint_4
+    - joint_5
+    - joint_6
     gains:
-      joint_a1:
+      joint_1:
         p: 5.0
         i: 0.0
         d: 0.1
-      joint_a2:
+      joint_2:
         p: 5.0
         i: 0.0
         d: 0.1
-      joint_a3:
+      joint_3:
         p: 5.0
         i: 0.0
         d: 0.1
-      joint_a4:
+      joint_4:
         p: 5.0
         i: 0.0
         d: 0.1
-      joint_a5:
+      joint_5:
         p: 5.0
         i: 0.0
         d: 0.1
-      joint_a6:
+      joint_6:
         p: 5.0
         i: 0.0
         d: 0.1

kuka_iiqka_eac_driver/config/joint_impedance_controller_config.yaml

@@ -1,9 +1,9 @@
 joint_impedance_controller:
   ros__parameters:
     joints: 
-    - joint_a1
-    - joint_a2
-    - joint_a3
-    - joint_a4
-    - joint_a5
-    - joint_a6
+    - joint_1
+    - joint_2
+    - joint_3
+    - joint_4
+    - joint_5
+    - joint_6

kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml

@@ -1,12 +1,12 @@
 joint_trajectory_controller:
   ros__parameters:
     joints: 
-    - joint_a1
-    - joint_a2
-    - joint_a3
-    - joint_a4
-    - joint_a5
-    - joint_a6
+    - joint_1
+    - joint_2
+    - joint_3
+    - joint_4
+    - joint_5
+    - joint_6
 
     command_interfaces:
       - position

kuka_iiqka_eac_driver/hardware_interface.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <library path="kuka_iiqka_eac_driver">
-  <class type="kuka_rox::KukaRoXHardwareInterface"
+  <class type="kuka_eac::KukaEACHardwareInterface"
          base_class_type="hardware_interface::SystemInterface">
     <description>ROS2 control Kuka driver for RoX</description>
   </class>

kuka_iiqka_eac_driver/include/kuka_iiqka_eac_driver/hardware_interface.hpp

@@ -41,35 +41,47 @@
 #include "nanopb/kuka/ecs/v1/motion_state_external.pb.hh"
 #include "os-core-udp-communication/replier.h"
 
+#include "kuka_iiqka_eac_driver/visibility_control.h"
+
 using hardware_interface::return_type;
 using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
-namespace kuka_rox
+namespace kuka_eac
 {
 
-class KukaRoXHardwareInterface : public hardware_interface::SystemInterface
+class KukaEACHardwareInterface : public hardware_interface::SystemInterface
 {
 public:
-  RCLCPP_SHARED_PTR_DEFINITIONS(KukaRoXHardwareInterface)
+  RCLCPP_SHARED_PTR_DEFINITIONS(KukaEACHardwareInterface)
 
-  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC CallbackReturn on_init(const hardware_interface::HardwareInfo & info)
+  override;
 
-  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC std::vector<hardware_interface::StateInterface>
+  export_state_interfaces() override;
 
-  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC std::vector<hardware_interface::CommandInterface>
+  export_command_interfaces() override;
 
-  CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
 
-  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & previous_state) override;
 
-  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State & previous_state) override;
 
-  return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC return_type read(
+    const rclcpp::Time & time,
+    const rclcpp::Duration & period) override;
 
-  return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override;
+  KUKA_IIQKA_EAC_DRIVER_PUBLIC return_type write(
+    const rclcpp::Time & time,
+    const rclcpp::Duration & period) override;
 
 private:
-  void ObserveControl();
+  KUKA_IIQKA_EAC_DRIVER_LOCAL void ObserveControl();
 
   bool is_active_ = false;
   bool msg_received_ = false;
@@ -108,6 +120,6 @@ class KukaRoXHardwareInterface : public hardware_interface::SystemInterface
   static constexpr char HW_IF_DAMPING[] = "damping";
   static constexpr char CONTROL_MODE[] = "control_mode";
 };
-}  // namespace kuka_rox
+}  // namespace kuka_eac
 
 #endif  // KUKA_IIQKA_EAC_DRIVER__HARDWARE_INTERFACE_HPP_

kuka_iiqka_eac_driver/include/kuka_iiqka_eac_driver/robot_manager_node.hpp

@@ -35,7 +35,7 @@
 
 #include "kuka/ecs/v1/motion_services_ecs.grpc.pb.h"
 
-namespace kuka_rox
+namespace kuka_eac
 {
 class RobotManagerNode : public kuka_drivers_core::ROS2BaseLCNode
 {
@@ -94,7 +94,7 @@ class RobotManagerNode : public kuka_drivers_core::ROS2BaseLCNode
   static constexpr int IMPEDANCE_MODE_IF_SIZE = 2;
 };
 
-}   // namespace kuka_rox
+}   // namespace kuka_eac
 
 
 #endif  // KUKA_IIQKA_EAC_DRIVER__ROBOT_MANAGER_NODE_HPP_

kuka_iiqka_eac_driver/include/kuka_iiqka_eac_driver/visibility_control.h

@@ -1,23 +1,16 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
+//    Copyright 2023 Áron Svastits
 //
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
+//    Licensed under the Apache License, Version 2.0 (the "License");
+//    you may not use this file except in compliance with the License.
+//    You may obtain a copy of the License at
 //
-//     http://www.apache.org/licenses/LICENSE-2.0
+//        http://www.apache.org/licenses/LICENSE-2.0
 //
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/* This header must be included by all rclcpp headers which declare symbols
- * which are defined in the rclcpp library. When not building the rclcpp
- * library, i.e. when using the headers in other package's code, the contents
- * of this header change the visibility of certain symbols which the rclcpp
- * library cannot have, but the consuming code must have inorder to link.
- */
+//    Unless required by applicable law or agreed to in writing, software
+//    distributed under the License is distributed on an "AS IS" BASIS,
+//    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//    See the License for the specific language governing permissions and
+//    limitations under the License.
 
 #ifndef KUKA_IIQKA_EAC_DRIVER__VISIBILITY_CONTROL_H_
 #define KUKA_IIQKA_EAC_DRIVER__VISIBILITY_CONTROL_H_
@@ -33,7 +26,7 @@
 #define KUKA_IIQKA_EAC_DRIVER_EXPORT __declspec(dllexport)
 #define KUKA_IIQKA_EAC_DRIVER_IMPORT __declspec(dllimport)
 #endif
-#ifdef KUKA_IIQKA_EAC_DRIVER_BUILDING_DLL
+#ifdef KUKA_IIQKA_EAC_DRIVER_BUILDING_LIBRARY
 #define KUKA_IIQKA_EAC_DRIVER_PUBLIC KUKA_IIQKA_EAC_DRIVER_EXPORT
 #else
 #define KUKA_IIQKA_EAC_DRIVER_PUBLIC KUKA_IIQKA_EAC_DRIVER_IMPORT
@@ -50,7 +43,7 @@
 #define KUKA_IIQKA_EAC_DRIVER_PUBLIC
 #define KUKA_IIQKA_EAC_DRIVER_LOCAL
 #endif
-#define KUKA_IIQKA_EAC_DRIVER__VISIBILITY_CONTROL_H_
+#define KUKA_IIQKA_EAC_DRIVER_PUBLIC_TYPE
 #endif
 
 #endif  // KUKA_IIQKA_EAC_DRIVER__VISIBILITY_CONTROL_H_

kuka_iiqka_eac_driver/package.xml

@@ -27,6 +27,8 @@
   <depend>libgrpc</depend>
 
   <exec_depend>kuka_lbr_iisy_support</exec_depend>
+  <exec_depend>ros2_control</exec_depend>
+  <exec_depend>ros2_controllers</exec_depend>
 
   <test_depend>ament_cmake_copyright</test_depend>
   <test_depend>ament_cmake_cppcheck</test_depend>