test launch files with fake hw

kroshu · Nov 10, 2023 · 73c410c · 73c410c
1 parent dc52375
commit 73c410c
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Showing 11 changed files with 51 additions and 104 deletions.
diff --git a/kuka_lbr_iisy_support/launch/test_lbr_iisy11_r1300.launch.py b/kuka_lbr_iisy_support/launch/test_lbr_iisy11_r1300.launch.py
@@ -30,6 +30,7 @@ def generate_launch_description():
                  "urdf", "lbr_iisy11_r1300.urdf.xacro"]
             ),
             " ",
+            "use_fake_hardware:=true",
         ]
     )
     robot_description = {'robot_description': robot_description_content}

diff --git a/kuka_lbr_iisy_support/launch/test_lbr_iisy15_r930.launch.py b/kuka_lbr_iisy_support/launch/test_lbr_iisy15_r930.launch.py
@@ -30,6 +30,7 @@ def generate_launch_description():
                  "urdf", "lbr_iisy15_r930.urdf.xacro"]
             ),
             " ",
+            "use_fake_hardware:=true",
         ]
     )
     robot_description = {'robot_description': robot_description_content}

diff --git a/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py b/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py
@@ -17,6 +17,10 @@
 from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
 from launch_ros.actions import Node
+import xacro
+import os
+from ament_index_python.packages import get_package_share_directory
+
 
 
 def generate_launch_description():
@@ -30,8 +34,11 @@ def generate_launch_description():
                  "urdf", "lbr_iisy3_r760.urdf.xacro"]
             ),
             " ",
+            "use_fake_hardware:=true",
         ]
     )
+    # robot_description_content = xacro.process_file(os.path.join(get_package_share_directory('kuka_lbr_iisy_support'), 'urdf', 'lbr_iisy3_r760.urdf.xacro'))
+
     robot_description = {'robot_description': robot_description_content}
 
     # RViz

diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300.urdf.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300.urdf.xacro
@@ -1,28 +1,10 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lbr_iisy11_r1300">
-<!-- Import iisy urdf file  -->
-<xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy11_r1300_macro.xacro"/>
+    <!-- Import iisy urdf file  -->
+    <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy11_r1300_macro.xacro"/>
 
-<!-- Read parameters from eci_config  -->
-<xacro:property name="eci_config" value="$(find kuka_rox_hw_interface)/config/eci_config.yaml" />
-<xacro:property name="eci_config_dict" value="${xacro.load_yaml(eci_config)}"/>
-<xacro:property name="control_mode" value="${eci_config_dict['robot_manager']['ros__parameters']['control_mode']}" />
-<xacro:property name="client_ip" value="${eci_config_dict['robot_manager']['ros__parameters']['client_ip']}" />
-<xacro:property name="controller_ip" value="${eci_config_dict['robot_manager']['ros__parameters']['controller_ip']}" />
+    <!-- Read additional arguments  -->
+    <xacro:arg name="use_fake_hardware" default="false" />
 
-<!-- Read QoS profile parameters  -->
-<xacro:property name="qos_config" value="$(find kuka_rox_hw_interface)/config/qos_profiles.yaml" />
-<xacro:property name="qos_config_dict" value="${xacro.load_yaml(qos_config)}"/>
-<xacro:property name="consequent_lost_packets" value="${qos_config_dict['rt_packet_loss_profile']['consequent_lost_packets']}" />
-<xacro:property name="lost_packets_in_timeframe" value="${qos_config_dict['rt_packet_loss_profile']['lost_packets_in_timeframe']}" />
-<xacro:property name="timeframe_ms" value="${qos_config_dict['rt_packet_loss_profile']['timeframe_ms']}" />
-
-
-<xacro:kuka_lbr_iisy11_r1300_robot prefix=""
-                  client_ip="${client_ip}" 
-                  controller_ip="${controller_ip}" 
-                  control_mode="${control_mode}"
-                  consequent_lost_packets="${consequent_lost_packets}" 
-                  lost_packets_in_timeframe="${lost_packets_in_timeframe}" 
-                  timeframe_ms="${timeframe_ms}"/>
-</robot>
+    <xacro:kuka_lbr_iisy11_r1300_robot prefix="" use_fake_hardware="$(arg use_fake_hardware)"/>
+</robot>
diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro
@@ -5,17 +5,12 @@
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
   <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy_transmission.xacro" />
 
-  <xacro:macro name="kuka_lbr_iisy11_r1300_robot" params="prefix client_ip controller_ip control_mode consequent_lost_packets lost_packets_in_timeframe timeframe_ms">
+  <xacro:macro name="kuka_lbr_iisy11_r1300_robot" params="prefix use_fake_hardware:=false">
     <!-- ros2 control instance -->
     <xacro:kuka_lbr_iisy_ros2_control
     name="lbr_iisy11_r1300" 
     prefix="${prefix}"
-    client_ip="${client_ip}"
-    controller_ip="${controller_ip}"
-    control_mode="${control_mode}"
-    consequent_lost_packets="${consequent_lost_packets}"
-    lost_packets_in_timeframe="${lost_packets_in_timeframe}"
-    timeframe_ms="${timeframe_ms}" />
+    use_fake_hardware="${use_fake_hardware}" />
 
     <!-- links - main serial chain -->
     <!-- links - root element cannot have inertia, therefore a dummy base_link is needed -->

diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930.urdf.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930.urdf.xacro
@@ -1,28 +1,10 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lbr_iisy15_r930">
-<!-- Import iisy urdf file  -->
-<xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy15_r930_macro.xacro"/>
+    <!-- Import iisy urdf file  -->
+    <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy15_r930_macro.xacro"/>
 
-<!-- Read parameters from eci_config  -->
-<xacro:property name="eci_config" value="$(find kuka_rox_hw_interface)/config/eci_config.yaml" />
-<xacro:property name="eci_config_dict" value="${xacro.load_yaml(eci_config)}"/>
-<xacro:property name="control_mode" value="${eci_config_dict['robot_manager']['ros__parameters']['control_mode']}" />
-<xacro:property name="client_ip" value="${eci_config_dict['robot_manager']['ros__parameters']['client_ip']}" />
-<xacro:property name="controller_ip" value="${eci_config_dict['robot_manager']['ros__parameters']['controller_ip']}" />
+    <!-- Read additional arguments  -->
+    <xacro:arg name="use_fake_hardware" default="false" />
 
-<!-- Read QoS profile parameters  -->
-<xacro:property name="qos_config" value="$(find kuka_rox_hw_interface)/config/qos_profiles.yaml" />
-<xacro:property name="qos_config_dict" value="${xacro.load_yaml(qos_config)}"/>
-<xacro:property name="consequent_lost_packets" value="${qos_config_dict['rt_packet_loss_profile']['consequent_lost_packets']}" />
-<xacro:property name="lost_packets_in_timeframe" value="${qos_config_dict['rt_packet_loss_profile']['lost_packets_in_timeframe']}" />
-<xacro:property name="timeframe_ms" value="${qos_config_dict['rt_packet_loss_profile']['timeframe_ms']}" />
-
-
-<xacro:kuka_lbr_iisy15_r930_robot prefix=""
-                  client_ip="${client_ip}" 
-                  controller_ip="${controller_ip}" 
-                  control_mode="${control_mode}"
-                  consequent_lost_packets="${consequent_lost_packets}" 
-                  lost_packets_in_timeframe="${lost_packets_in_timeframe}" 
-                  timeframe_ms="${timeframe_ms}"/>
+    <xacro:kuka_lbr_iisy15_r930_robot prefix="" use_fake_hardware="$(arg use_fake_hardware)"/>
 </robot>
diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro
@@ -5,17 +5,12 @@
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
   <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy_transmission.xacro" />
 
-  <xacro:macro name="kuka_lbr_iisy15_r930_robot" params="prefix client_ip controller_ip control_mode consequent_lost_packets lost_packets_in_timeframe timeframe_ms">
+  <xacro:macro name="kuka_lbr_iisy15_r930_robot" params="prefix use_fake_hardware:=false">
     <!-- ros2 control instance -->
     <xacro:kuka_lbr_iisy_ros2_control
     name="lbr_iisy15_r930" 
     prefix="${prefix}"
-    client_ip="${client_ip}"
-    controller_ip="${controller_ip}"
-    control_mode="${control_mode}"
-    consequent_lost_packets="${consequent_lost_packets}"
-    lost_packets_in_timeframe="${lost_packets_in_timeframe}"
-    timeframe_ms="${timeframe_ms}" />
+    use_fake_hardware="${use_fake_hardware}" />
 
     <!-- links - main serial chain -->
     <!-- links - root element cannot have inertia, therefore a dummy base_link is needed -->

diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760.urdf.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760.urdf.xacro
@@ -1,31 +1,10 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lbr_iisy3_r760">
-<!-- Import iisy urdf file  -->
-<xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy3_r760_macro.xacro"/>
+    <!-- Import iisy urdf file  -->
+    <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy3_r760_macro.xacro"/>
 
-<!-- Read parameters from eci_config  -->
-<xacro:property name="eci_config" value="$(find kuka_rox_hw_interface)/config/eci_config.yaml" />
-<xacro:property name="eci_config_dict" value="${xacro.load_yaml(eci_config)}"/>
-<xacro:property name="control_mode" value="${eci_config_dict['robot_manager']['ros__parameters']['control_mode']}" />
-<xacro:property name="client_ip" value="${eci_config_dict['robot_manager']['ros__parameters']['client_ip']}" />
-<xacro:property name="controller_ip" value="${eci_config_dict['robot_manager']['ros__parameters']['controller_ip']}" />
+    <!-- Read additional arguments  -->
+    <xacro:arg name="use_fake_hardware" default="false" />
 
-<!-- Read QoS profile parameters  -->
-<xacro:property name="qos_config" value="$(find kuka_rox_hw_interface)/config/qos_profiles.yaml" />
-<xacro:property name="qos_config_dict" value="${xacro.load_yaml(qos_config)}"/>
-<xacro:property name="consequent_lost_packets" value="${qos_config_dict['rt_packet_loss_profile']['consequent_lost_packets']}" />
-<xacro:property name="lost_packets_in_timeframe" value="${qos_config_dict['rt_packet_loss_profile']['lost_packets_in_timeframe']}" />
-<xacro:property name="timeframe_ms" value="${qos_config_dict['rt_packet_loss_profile']['timeframe_ms']}" />
-
-<!-- Read additional arguments  -->
-<xacro:arg name="use_fake_hardware" default="false" />
-
-<xacro:kuka_lbr_iisy3_r760_robot prefix=""
-                  client_ip="${client_ip}" 
-                  controller_ip="${controller_ip}" 
-                  control_mode="${control_mode}"
-                  consequent_lost_packets="${consequent_lost_packets}" 
-                  lost_packets_in_timeframe="${lost_packets_in_timeframe}" 
-                  timeframe_ms="${timeframe_ms}" 
-                  use_fake_hardware="$(arg use_fake_hardware)"/>
+    <xacro:kuka_lbr_iisy3_r760_robot prefix="" use_fake_hardware="$(arg use_fake_hardware)"/>
 </robot>
diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro
@@ -5,17 +5,11 @@
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
   <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy_transmission.xacro" />
 
-  <xacro:macro name="kuka_lbr_iisy3_r760_robot" params="prefix client_ip controller_ip control_mode consequent_lost_packets lost_packets_in_timeframe timeframe_ms use_fake_hardware:=false">
+  <xacro:macro name="kuka_lbr_iisy3_r760_robot" params="prefix use_fake_hardware:=false">
     <!-- ros2 control instance -->
     <xacro:kuka_lbr_iisy_ros2_control
     name="lbr_iisy3_r760" 
-    prefix="${prefix}"
-    client_ip="${client_ip}"
-    controller_ip="${controller_ip}"
-    control_mode="${control_mode}"
-    consequent_lost_packets="${consequent_lost_packets}"
-    lost_packets_in_timeframe="${lost_packets_in_timeframe}"
-    timeframe_ms="${timeframe_ms}" 
+    prefix="${prefix}" 
     use_fake_hardware="${use_fake_hardware}" />
 
     <!-- links - main serial chain -->

diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="kuka_lbr_iisy_ros2_control" params="name prefix client_ip controller_ip control_mode consequent_lost_packets lost_packets_in_timeframe timeframe_ms use_fake_hardware:=false">
+  <xacro:macro name="kuka_lbr_iisy_ros2_control" params="name prefix use_fake_hardware:=false">
     <ros2_control name="${name}" type="system">
       <hardware>
         <xacro:if value="${use_fake_hardware}">
@@ -9,6 +9,20 @@
           <param name="state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
+          <!-- Read parameters from eci_config  -->
+          <xacro:property name="eci_config" value="$(find kuka_rox_hw_interface)/config/eci_config.yaml" />
+          <xacro:property name="eci_config_dict" value="${xacro.load_yaml(eci_config)}"/>
+          <xacro:property name="control_mode" value="${eci_config_dict['robot_manager']['ros__parameters']['control_mode']}" />
+          <xacro:property name="client_ip" value="${eci_config_dict['robot_manager']['ros__parameters']['client_ip']}" />
+          <xacro:property name="controller_ip" value="${eci_config_dict['robot_manager']['ros__parameters']['controller_ip']}" />
+
+          <!-- Read QoS profile parameters  -->
+          <xacro:property name="qos_config" value="$(find kuka_rox_hw_interface)/config/qos_profiles.yaml" />
+          <xacro:property name="qos_config_dict" value="${xacro.load_yaml(qos_config)}"/>
+          <xacro:property name="consequent_lost_packets" value="${qos_config_dict['rt_packet_loss_profile']['consequent_lost_packets']}" />
+          <xacro:property name="lost_packets_in_timeframe" value="${qos_config_dict['rt_packet_loss_profile']['lost_packets_in_timeframe']}" />
+          <xacro:property name="timeframe_ms" value="${qos_config_dict['rt_packet_loss_profile']['timeframe_ms']}" />
+
           <plugin>kuka_rox::KukaRoXHardwareInterface</plugin>
           <param name="client_ip">${client_ip}</param>
           <param name="controller_ip">${controller_ip}</param>

diff --git a/kuka_resources/config/view_6_axis_urdf.rviz b/kuka_resources/config/view_6_axis_urdf.rviz
@@ -4,12 +4,9 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /Global Options1
-        - /Status1
-        - /RobotModel1
         - /TF1
       Splitter Ratio: 0.5
-    Tree Height: 1017
+    Tree Height: 661
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -239,16 +236,16 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1246
+  Height: 890
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000002ca00000484fc020000000afb0000001200530065006c0065006300740069006f006e000000003d000003b90000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000484000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000012004c0069006e006500500061006e0065006c010000003b000002ff0000000000000000000000010000010f000002fffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002ff000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000044fc0100000002fb0000000800540069006d006501000000000000073d0000000000000000fb0000000800540069006d006501000000000000045000000000000000000000030e0000048400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000002ca00000320fc020000000afb0000001200530065006c0065006300740069006f006e000000003d000003b90000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000320000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000012004c0069006e006500500061006e0065006c010000003b000002ff0000000000000000000000010000010f000002fffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002ff000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000044fc0100000002fb0000000800540069006d006501000000000000073d0000000000000000fb0000000800540069006d006501000000000000045000000000000000000000046a0000032000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1502
-  X: 74
+  Width: 1850
+  X: 70
   Y: 27
-Original file line number
+Diff line change
@@ Expand Up / @@ -30,6 +30,7 @@ def generate_launch_description(): @@
                      "urdf", "lbr_iisy11_r1300.urdf.xacro"]
                 ),
                 " ",
+                "use_fake_hardware:=true",
             ]
         )
         robot_description = {'robot_description': robot_description_content}
@@ Expand Down @@