Skip to content
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

ROS2 control hwif and launch config update #185

Merged
merged 4 commits into from
Oct 4, 2024
Merged

ROS2 control hwif and launch config update #185

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
e87c631
update get_state to get_lifecycle_state
PetoAdam Sep 25, 2024
9a063a5
update controller spawning
PetoAdam Oct 2, 2024
6e9ecb7
formatting
PetoAdam Oct 2, 2024
2adfd73
remove controller config file params from the control_node
PetoAdam Oct 4, 2024
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
33 changes: 19 additions & 14 deletions kuka_iiqka_eac_driver/launch/startup.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -113,9 +113,6 @@ def launch_setup(context, *args, **kwargs):
parameters=[
robot_description,
controller_config,
jtc_config,
jic_config,
ec_config,
{
"hardware_components_initial_state": {
"unconfigured": [tf_prefix + robot_model.perform(context)]
Expand Down Expand Up @@ -145,29 +142,37 @@ def launch_setup(context, *args, **kwargs):
)

# Spawn controllers
def controller_spawner(controller_names, activate=False):
def controller_spawner(controller_name, param_file=None, activate=False):
arg_list = [
controller_names,
controller_name,
"-c",
controller_manager_node,
"-n",
ns,
]

# Add param-file if it's provided
if param_file:
arg_list.extend(["--param-file", param_file])

if not activate:
arg_list.append("--inactive")

return Node(package="controller_manager", executable="spawner", arguments=arg_list)

controller_names = [
"joint_state_broadcaster",
"joint_trajectory_controller",
"joint_group_impedance_controller",
"effort_controller",
"control_mode_handler",
"event_broadcaster",
controllers = {
Svastits marked this conversation as resolved.
Show resolved Hide resolved
"joint_state_broadcaster": None,
"joint_trajectory_controller": jtc_config,
"joint_group_impedance_controller": jic_config,
"effort_controller": ec_config,
"control_mode_handler": None,
"event_broadcaster": None,
}

controller_spawners = [
controller_spawner(name, param_file) for name, param_file in controllers.items()
]

controller_spawners = [controller_spawner(name) for name in controller_names]

nodes_to_start = [
control_node,
robot_manager_node,
Expand Down
23 changes: 15 additions & 8 deletions kuka_kss_rsi_driver/launch/startup.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -104,7 +104,6 @@ def launch_setup(context, *args, **kwargs):
parameters=[
robot_description,
controller_config,
jtc_config,
{
"hardware_components_initial_state": {
"unconfigured": [tf_prefix + robot_model.perform(context)]
Expand All @@ -128,24 +127,32 @@ def launch_setup(context, *args, **kwargs):
)

# Spawn controllers
def controller_spawner(controller_names, activate=False):
def controller_spawner(controller_name, param_file=None, activate=False):
arg_list = [
controller_names,
controller_name,
"-c",
controller_manager_node,
"-n",
ns,
]

# Add param-file if it's provided
if param_file:
arg_list.extend(["--param-file", param_file])

if not activate:
arg_list.append("--inactive")

return Node(package="controller_manager", executable="spawner", arguments=arg_list)

controller_names = [
"joint_state_broadcaster",
"joint_trajectory_controller",
]
controllers = {
"joint_state_broadcaster": None,
"joint_trajectory_controller": jtc_config,
}

controller_spawners = [controller_spawner(name) for name in controller_names]
controller_spawners = [
controller_spawner(name, param_file) for name, param_file in controllers.items()
]

nodes_to_start = [
control_node,
Expand Down
2 changes: 1 addition & 1 deletion kuka_kss_rsi_driver/src/hardware_interface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -168,7 +168,7 @@ return_type KukaRSIHardwareInterface::read(const rclcpp::Time &, const rclcpp::D
if (server_->recv(in_buffer_) == 0)
{
RCLCPP_ERROR(rclcpp::get_logger("KukaRSIHardwareInterface"), "No data received from robot");
this->on_deactivate(this->get_state());
this->on_deactivate(this->get_lifecycle_state());
return return_type::ERROR;
}
rsi_state_ = RSIState(in_buffer_);
Expand Down
40 changes: 22 additions & 18 deletions kuka_sunrise_fri_driver/launch/startup.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -114,10 +114,6 @@ def launch_setup(context, *args, **kwargs):
parameters=[
robot_description,
controller_config,
jtc_config,
jic_config,
ec_config,
etb_config,
{
"hardware_components_initial_state": {
"unconfigured": [tf_prefix + robot_model.perform(context)]
Expand Down Expand Up @@ -147,32 +143,40 @@ def launch_setup(context, *args, **kwargs):
)

# Spawn controllers
def controller_spawner(controller_names, activate=False):
def controller_spawner(controller_name, param_file=None, activate=False):
arg_list = [
controller_names,
controller_name,
"-c",
controller_manager_node,
"-n",
ns,
]

# Add param-file if it's provided
if param_file:
arg_list.extend(["--param-file", param_file])

if not activate:
arg_list.append("--inactive")

return Node(package="controller_manager", executable="spawner", arguments=arg_list)

controller_names = [
"joint_state_broadcaster",
"external_torque_broadcaster",
"joint_trajectory_controller",
"fri_configuration_controller",
"fri_state_broadcaster",
"joint_group_impedance_controller",
"effort_controller",
"control_mode_handler",
"event_broadcaster",
controllers = {
"joint_state_broadcaster": None,
"external_torque_broadcaster": etb_config,
"joint_trajectory_controller": jtc_config,
"fri_configuration_controller": None,
"fri_state_broadcaster": None,
"joint_group_impedance_controller": jic_config,
"effort_controller": ec_config,
"control_mode_handler": None,
"event_broadcaster": None,
}

controller_spawners = [
controller_spawner(name, param_file) for name, param_file in controllers.items()
]

controller_spawners = [controller_spawner(name) for name in controller_names]

nodes_to_start = [
control_node,
robot_manager_node,
Expand Down
Loading