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Fix build and demos #3

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Fix build and demos #3

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0bf822d
Fix build and demos
cboostjvisser Sep 5, 2023
0edb39b
Apply suggestions from code review
cboostjvisser Feb 8, 2024
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2 changes: 1 addition & 1 deletion denso_robot_bringup/launch/denso_robot_bringup.launch.py
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Expand Up @@ -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')
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8 changes: 4 additions & 4 deletions denso_robot_descriptions/robots/cobotta/urdf/denso_robot.ros2_control.xacro
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Expand Up @@ -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" />
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<hardware>
<xacro:if value="${sim}">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
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8 changes: 4 additions & 4 deletions denso_robot_descriptions/robots/cobotta/urdf/denso_robot_macro.xacro
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Expand Up @@ -72,12 +72,12 @@
<xacro:denso_robot_arm_kinematics namespace="$(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>
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10 changes: 5 additions & 5 deletions denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot.ros2_control.xacro
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Expand Up @@ -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" />
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<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>
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12 changes: 7 additions & 5 deletions denso_robot_descriptions/robots/hsr065a1_n32/urdf/denso_robot_macro.xacro
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Expand Up @@ -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="$(arg ip_address)"
Expand All @@ -69,10 +69,12 @@
<xacro:denso_robot_arm_kinematics namespace="$(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>
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10 changes: 5 additions & 5 deletions denso_robot_descriptions/robots/vs060/urdf/denso_robot.ros2_control.xacro
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Expand Up @@ -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" />
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<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>
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12 changes: 7 additions & 5 deletions denso_robot_descriptions/robots/vs060/urdf/denso_robot_macro.xacro
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Expand Up @@ -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="$(arg ip_address)"
Expand All @@ -72,10 +72,12 @@
<xacro:denso_robot_arm_kinematics namespace="$(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>
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4 changes: 2 additions & 2 deletions denso_robot_drivers_ros2.repos
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Expand Up @@ -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
2 changes: 1 addition & 1 deletion denso_robot_moveit_demo/src/denso_robot_moveit_demo.cpp
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Expand Up @@ -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()
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4 changes: 2 additions & 2 deletions denso_robot_moveit_demo/src/denso_robot_moveit_pickandplace.cpp
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Expand Up @@ -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()
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4 changes: 2 additions & 2 deletions denso_robot_moveit_demo/src/denso_robot_moveit_pickandplace_scara.cpp
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Expand Up @@ -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()
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