From 0bf822d017c84867fca5697a7d48458dd1e76208 Mon Sep 17 00:00:00 2001
From: Jacob Visser <Jacob.Visser@cboost.nl>
Date: Tue, 5 Sep 2023 13:52:52 +0000
Subject: [PATCH 1/2] Fix build and demos

---
 .../launch/denso_robot_bringup.launch.py             |  2 +-
 .../cobotta/urdf/denso_robot.ros2_control.xacro      |  8 ++++----
 .../robots/cobotta/urdf/denso_robot_macro.xacro      |  8 ++++----
 .../hsr065a1_n32/urdf/denso_robot.ros2_control.xacro | 10 +++++-----
 .../robots/hsr065a1_n32/urdf/denso_robot_macro.xacro | 12 +++++++-----
 .../robots/vs060/urdf/denso_robot.ros2_control.xacro | 10 +++++-----
 .../robots/vs060/urdf/denso_robot_macro.xacro        | 12 +++++++-----
 denso_robot_drivers_ros2.repos                       |  4 ++--
 .../src/denso_robot_moveit_demo.cpp                  |  2 +-
 .../src/denso_robot_moveit_pickandplace.cpp          |  4 ++--
 .../src/denso_robot_moveit_pickandplace_scara.cpp    |  4 ++--
 11 files changed, 40 insertions(+), 36 deletions(-)

diff --git a/denso_robot_bringup/launch/denso_robot_bringup.launch.py b/denso_robot_bringup/launch/denso_robot_bringup.launch.py
index 349a990..da7651f 100644
--- a/denso_robot_bringup/launch/denso_robot_bringup.launch.py
+++ b/denso_robot_bringup/launch/denso_robot_bringup.launch.py
@@ -376,7 +376,7 @@ def generate_launch_description():
 # --------- Gazebo Nodes (only if 'sim:=true') ---------
     set_param_use_sim_time = SetParameter(
         name='use_sim_time', value=True,
-        condition=IfCondition(LaunchConfiguration('sim')))
+        condition=IfCondition(sim))
 
     world_file = os.path.join(
         get_package_share_directory('denso_robot_moveit_config'), 'worlds', 'empty.sdf')
diff --git a/denso_robot_descriptions/robots/cobotta/urdf/denso_robot.ros2_control.xacro b/denso_robot_descriptions/robots/cobotta/urdf/denso_robot.ros2_control.xacro
index c6d0ae0..a6688f2 100644
--- a/denso_robot_descriptions/robots/cobotta/urdf/denso_robot.ros2_control.xacro
+++ b/denso_robot_descriptions/robots/cobotta/urdf/denso_robot.ros2_control.xacro
@@ -2,20 +2,20 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="denso_robot_ros2_control" params="name namespace
-	robot_name
+    robot_name
     sim:=false fake_sensor_commands:=false
     ip_address
     model
     robot_joints joint_1 joint_2 joint_3 joint_4 joint_5 joint_6
     arm_group
     send_format recv_format
-	controller_type
+    controller_type
     verbose
     ">
 
     <ros2_control name="${namespace}${name}" type="system">
-	<!-- joint limits include -->
-	<xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot_joint_limits.xacro" />
+  <!-- joint limits include -->
+  <xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot_joint_limits.xacro" />
       <hardware>
         <xacro:if value="${sim}">
           <plugin>ign_ros2_control/IgnitionSystem</plugin>
diff --git a/denso_robot_descriptions/robots/cobotta/urdf/denso_robot_macro.xacro b/denso_robot_descriptions/robots/cobotta/urdf/denso_robot_macro.xacro
index bed3ff0..8f46001 100644
--- a/denso_robot_descriptions/robots/cobotta/urdf/denso_robot_macro.xacro
+++ b/denso_robot_descriptions/robots/cobotta/urdf/denso_robot_macro.xacro
@@ -72,12 +72,12 @@
     <xacro:denso_robot_arm_kinematics namespace="$(arg namespace)" model="$(arg model)" />
 
     <gazebo>
-	    <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin" >
+      <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin" >
           <robot_param>robot_description</robot_param>
           <robot_param_node>robot_state_publisher</robot_param_node>
-      		<parameters>$(find denso_robot_moveit_config)/robots/$(arg model)/config/denso_robot_controllers.yaml</parameters>
-    	</plugin>
-  	</gazebo>
+          <parameters>$(find denso_robot_moveit_config)/robots/$(arg model)/config/denso_robot_controllers.yaml</parameters>
+      </plugin>
+    </gazebo>
 
 
   </xacro:macro>
diff --git a/denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot.ros2_control.xacro b/denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot.ros2_control.xacro
index 048763e..041b867 100644
--- a/denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot.ros2_control.xacro
+++ b/denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot.ros2_control.xacro
@@ -2,23 +2,23 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="denso_robot_ros2_control" params="name namespace
-	robot_name
+    robot_name
     sim:=false fake_sensor_commands:=false
     ip_address
     model
     robot_joints joint_1 joint_2 joint_3 joint_4
     arm_group
     send_format recv_format
-	controller_type
+    controller_type
     verbose
     ">
 
     <ros2_control name="${namespace}${name}" type="system">
-	<!-- joint limits include -->
-	<xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot_joint_limits.xacro" />
+  <!-- joint limits include -->
+  <xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot_joint_limits.xacro" />
       <hardware>
         <xacro:if value="${sim}">
-      	  <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+          <plugin>ign_ros2_control/IgnitionSystem</plugin>
         </xacro:if>
         <xacro:unless value="${sim}">
           <plugin>denso_robot_control/DensoRobotHW</plugin>
diff --git a/denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot_macro.xacro b/denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot_macro.xacro
index 2e286b0..3af289e 100644
--- a/denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot_macro.xacro
+++ b/denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot_macro.xacro
@@ -44,7 +44,7 @@
     <xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot.ros2_control.xacro" />
     <!-- ros2 control instance -->
     <xacro:denso_robot_ros2_control
-      name="GazeboSystem" namespace="$(arg namespace)"
+      name="IgnitionSystem" namespace="$(arg namespace)"
       sim="$(arg sim)"
       model="$(arg model)"
       ip_address="$(arg ip_address)"
@@ -69,10 +69,12 @@
     <xacro:denso_robot_arm_kinematics namespace="$(arg namespace)" model="$(arg model)" />
 
     <gazebo>
-	    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-      		<parameters>$(find denso_robot_moveit_config)/robots/$(arg model)/config/denso_robot_controllers.yaml</parameters>
-    	</plugin>
-  	</gazebo>
+      <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin" >
+          <robot_param>robot_description</robot_param>
+          <robot_param_node>robot_state_publisher</robot_param_node>
+          <parameters>$(find denso_robot_moveit_config)/robots/$(arg model)/config/denso_robot_controllers.yaml</parameters>
+      </plugin>
+    </gazebo>
 
 
   </xacro:macro>
diff --git a/denso_robot_descriptions/robots/vs060/urdf/denso_robot.ros2_control.xacro b/denso_robot_descriptions/robots/vs060/urdf/denso_robot.ros2_control.xacro
index 067c56a..a6688f2 100644
--- a/denso_robot_descriptions/robots/vs060/urdf/denso_robot.ros2_control.xacro
+++ b/denso_robot_descriptions/robots/vs060/urdf/denso_robot.ros2_control.xacro
@@ -2,23 +2,23 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="denso_robot_ros2_control" params="name namespace
-	robot_name
+    robot_name
     sim:=false fake_sensor_commands:=false
     ip_address
     model
     robot_joints joint_1 joint_2 joint_3 joint_4 joint_5 joint_6
     arm_group
     send_format recv_format
-	controller_type
+    controller_type
     verbose
     ">
 
     <ros2_control name="${namespace}${name}" type="system">
-	<!-- joint limits include -->
-	<xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot_joint_limits.xacro" />
+  <!-- joint limits include -->
+  <xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot_joint_limits.xacro" />
       <hardware>
         <xacro:if value="${sim}">
-      	  <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+          <plugin>ign_ros2_control/IgnitionSystem</plugin>
         </xacro:if>
         <xacro:unless value="${sim}">
           <plugin>denso_robot_control/DensoRobotHW</plugin>
diff --git a/denso_robot_descriptions/robots/vs060/urdf/denso_robot_macro.xacro b/denso_robot_descriptions/robots/vs060/urdf/denso_robot_macro.xacro
index b042d68..8c1e526 100644
--- a/denso_robot_descriptions/robots/vs060/urdf/denso_robot_macro.xacro
+++ b/denso_robot_descriptions/robots/vs060/urdf/denso_robot_macro.xacro
@@ -46,7 +46,7 @@
     <xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot.ros2_control.xacro" />
     <!-- ros2 control instance -->
     <xacro:denso_robot_ros2_control
-      name="GazeboSystem" namespace="$(arg namespace)"
+      name="IgnitionSystem" namespace="$(arg namespace)"
       sim="$(arg sim)"
       model="$(arg model)"
       ip_address="$(arg ip_address)"
@@ -72,10 +72,12 @@
     <xacro:denso_robot_arm_kinematics namespace="$(arg namespace)" model="$(arg model)" />
 
     <gazebo>
-	    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-      		<parameters>$(find denso_robot_moveit_config)/robots/$(arg model)/config/denso_robot_controllers.yaml</parameters>
-    	</plugin>
-  	</gazebo>
+      <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin" >
+          <robot_param>robot_description</robot_param>
+          <robot_param_node>robot_state_publisher</robot_param_node>
+        <parameters>$(find denso_robot_moveit_config)/robots/$(arg model)/config/denso_robot_controllers.yaml</parameters>
+      </plugin>
+    </gazebo>
 
 
   </xacro:macro>
diff --git a/denso_robot_drivers_ros2.repos b/denso_robot_drivers_ros2.repos
index 1aaf92b..58b508e 100644
--- a/denso_robot_drivers_ros2.repos
+++ b/denso_robot_drivers_ros2.repos
@@ -2,8 +2,8 @@ repositories:
   gazebo_ros2_control:
     type: git
     url: https://github.com/ros-simulation/gazebo_ros2_control.git
-    version: humble 
+    version: humble
   ros2_control_demos:
     type: git
     url: https://github.com/ros-controls/ros2_control_demos.git
-    version: master
+    version: humble
diff --git a/denso_robot_moveit_demo/src/denso_robot_moveit_demo.cpp b/denso_robot_moveit_demo/src/denso_robot_moveit_demo.cpp
index 85bd239..41e2dce 100644
--- a/denso_robot_moveit_demo/src/denso_robot_moveit_demo.cpp
+++ b/denso_robot_moveit_demo/src/denso_robot_moveit_demo.cpp
@@ -56,7 +56,7 @@ class DensoRobotCppDemo
       node_->create_publisher<moveit_msgs::msg::DisplayRobotState>("display_robot_state", 1))
   {
     node_->declare_parameter("model", "cobotta");
-    node_->declare_parameter("scale_factor", "1.0");
+    node_->declare_parameter("scale_factor", 1.0);
   }
 
   void run()
diff --git a/denso_robot_moveit_demo/src/denso_robot_moveit_pickandplace.cpp b/denso_robot_moveit_demo/src/denso_robot_moveit_pickandplace.cpp
index b42c6c0..d927d2d 100644
--- a/denso_robot_moveit_demo/src/denso_robot_moveit_pickandplace.cpp
+++ b/denso_robot_moveit_demo/src/denso_robot_moveit_pickandplace.cpp
@@ -56,8 +56,8 @@ class DensoRobotPickAndPlaceDemo
       node_->create_publisher<moveit_msgs::msg::DisplayRobotState>("display_robot_state", 1))
   {
     node_->declare_parameter("model", "");
-    node_->declare_parameter("scale_factor", "");
-    node_->declare_parameter("num_cycles", "");
+    node_->declare_parameter("scale_factor", 1.0);
+    node_->declare_parameter("num_cycles", 1);
   }
 
   void run()
diff --git a/denso_robot_moveit_demo/src/denso_robot_moveit_pickandplace_scara.cpp b/denso_robot_moveit_demo/src/denso_robot_moveit_pickandplace_scara.cpp
index c30e0ce..a39502d 100644
--- a/denso_robot_moveit_demo/src/denso_robot_moveit_pickandplace_scara.cpp
+++ b/denso_robot_moveit_demo/src/denso_robot_moveit_pickandplace_scara.cpp
@@ -55,8 +55,8 @@ class DensoRobotPickAndPlaceDemo
       node_->create_publisher<moveit_msgs::msg::DisplayRobotState>("display_robot_state", 1))
   {
     node_->declare_parameter("model", "");
-    node_->declare_parameter("scale_factor", "");
-    node_->declare_parameter("num_cycles", "");
+    node_->declare_parameter("scale_factor", 1.0);
+    node_->declare_parameter("num_cycles", 1);
   }
 
   void run()

From 0edb39b2c5301f2714b785c370b2333bc48b9db7 Mon Sep 17 00:00:00 2001
From: cboostjvisser <89262699+cboostjvisser@users.noreply.github.com>
Date: Thu, 8 Feb 2024 09:14:28 +0100
Subject: [PATCH 2/2] Apply suggestions from code review

Fix indentation

Co-authored-by: Daisuke Sato <tiryoh@gmail.com>
---
 .../robots/cobotta/urdf/denso_robot.ros2_control.xacro        | 4 ++--
 .../robots/hsr065a1_n32/urdf/denso_robot.ros2_control.xacro   | 4 ++--
 .../robots/vs060/urdf/denso_robot.ros2_control.xacro          | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/denso_robot_descriptions/robots/cobotta/urdf/denso_robot.ros2_control.xacro b/denso_robot_descriptions/robots/cobotta/urdf/denso_robot.ros2_control.xacro
index a6688f2..aa7b926 100644
--- a/denso_robot_descriptions/robots/cobotta/urdf/denso_robot.ros2_control.xacro
+++ b/denso_robot_descriptions/robots/cobotta/urdf/denso_robot.ros2_control.xacro
@@ -14,8 +14,8 @@
     ">
 
     <ros2_control name="${namespace}${name}" type="system">
-  <!-- joint limits include -->
-  <xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot_joint_limits.xacro" />
+      <!-- joint limits include -->
+      <xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot_joint_limits.xacro" />
       <hardware>
         <xacro:if value="${sim}">
           <plugin>ign_ros2_control/IgnitionSystem</plugin>
diff --git a/denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot.ros2_control.xacro b/denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot.ros2_control.xacro
index 041b867..bf69dca 100644
--- a/denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot.ros2_control.xacro
+++ b/denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot.ros2_control.xacro
@@ -14,8 +14,8 @@
     ">
 
     <ros2_control name="${namespace}${name}" type="system">
-  <!-- joint limits include -->
-  <xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot_joint_limits.xacro" />
+      <!-- joint limits include -->
+      <xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot_joint_limits.xacro" />
       <hardware>
         <xacro:if value="${sim}">
           <plugin>ign_ros2_control/IgnitionSystem</plugin>
diff --git a/denso_robot_descriptions/robots/vs060/urdf/denso_robot.ros2_control.xacro b/denso_robot_descriptions/robots/vs060/urdf/denso_robot.ros2_control.xacro
index a6688f2..aa7b926 100644
--- a/denso_robot_descriptions/robots/vs060/urdf/denso_robot.ros2_control.xacro
+++ b/denso_robot_descriptions/robots/vs060/urdf/denso_robot.ros2_control.xacro
@@ -14,8 +14,8 @@
     ">
 
     <ros2_control name="${namespace}${name}" type="system">
-  <!-- joint limits include -->
-  <xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot_joint_limits.xacro" />
+      <!-- joint limits include -->
+      <xacro:include filename="$(find denso_robot_descriptions)/robots/$(arg model)/urdf/denso_robot_joint_limits.xacro" />
       <hardware>
         <xacro:if value="${sim}">
           <plugin>ign_ros2_control/IgnitionSystem</plugin>