test launc file with fake hw

kroshu · Nov 10, 2023 · d367933 · d367933
1 parent 73c410c
commit d367933
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Showing 28 changed files with 82 additions and 791 deletions.
diff --git a/kuka_agilus_support/launch/test_kr6_r700-sixx.launch.py b/kuka_agilus_support/launch/test_kr6_r700-sixx.launch.py
@@ -28,6 +28,7 @@ def generate_launch_description():
                  "urdf", "kr6_r700-sixx.urdf.xacro"]
             ),
             " ",
+            "use_fake_hardware:=true",
         ]
     )
     robot_description = {'robot_description': robot_description_content}

diff --git a/kuka_agilus_support/launch/test_kr6_r900-sixx.launch.py b/kuka_agilus_support/launch/test_kr6_r900-sixx.launch.py
@@ -28,6 +28,7 @@ def generate_launch_description():
                  "urdf", "kr6_r700-sixx.urdf.xacro"]
             ),
             " ",
+            "use_fake_hardware:=true",
         ]
     )
     robot_description = {'robot_description': robot_description_content}

diff --git a/kuka_agilus_support/urdf/kr6_r700-sixx.urdf.xacro b/kuka_agilus_support/urdf/kr6_r700-sixx.urdf.xacro
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kr6_r700-sixx">
+  <!-- Import urdf file  -->
+  <xacro:include filename="$(find kuka_agilus_support)/urdf/kr6_r700-sixx_macro.xacro"/>
+
+  <!-- Read additional arguments  -->
+  <xacro:arg name="use_fake_hardware" default="false" />
+
+  <xacro:kuka_kr6_r700-sixx_robot prefix=""  use_fake_hardware="$(arg use_fake_hardware)"/>
+</robot>
diff --git a/...us_support/urdf/kr6_r700_sixx_macro.xacro → ...us_support/urdf/kr6_r700-sixx_macro.xacro b/...us_support/urdf/kr6_r700_sixx_macro.xacro → ...us_support/urdf/kr6_r700-sixx_macro.xacro
@@ -5,13 +5,11 @@
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_ros2_control.xacro" />
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_transmission.xacro" />
 
-  <xacro:macro name="kuka_kr6_r700-sixx_robot" params="prefix client_ip client_port use_fake_hardware">
+  <xacro:macro name="kuka_kr6_r700-sixx_robot" params="prefix use_fake_hardware">
     <!-- ros2 control instance -->
     <xacro:kuka_agilus_ros2_control
     name="kr6_r700-sixx" 
     prefix="${prefix}"
-    client_ip="${client_ip}"
-    client_port="${client_port}"
     use_fake_hardware="${use_fake_hardware}" />
 
     <link name="${prefix}base_link"/>

diff --git a/kuka_agilus_support/urdf/kr6_r700_sixx.urdf.xacro b/kuka_agilus_support/urdf/kr6_r700_sixx.urdf.xacro
diff --git a/kuka_agilus_support/urdf/kr6_r900-sixx.urdf.xacro b/kuka_agilus_support/urdf/kr6_r900-sixx.urdf.xacro
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kr6_r900-sixx">
+  <!-- Import urdf file  -->
+  <xacro:include filename="$(find kuka_agilus_support)/urdf/kr6_r900-sixx_macro.xacro"/>
+
+  <!-- Read additional arguments  -->
+  <xacro:arg name="use_fake_hardware" default="false" />
+
+  <xacro:kuka_kr6_r900-sixx_robot prefix="" use_fake_hardware="$(arg use_fake_hardware)"/>
+</robot>
diff --git a/...us_support/urdf/kr6_r900_sixx_macro.xacro → ...us_support/urdf/kr6_r900-sixx_macro.xacro b/...us_support/urdf/kr6_r900_sixx_macro.xacro → ...us_support/urdf/kr6_r900-sixx_macro.xacro
@@ -5,13 +5,11 @@
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_ros2_control.xacro" />
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_transmission.xacro" />
 
-  <xacro:macro name="kuka_kr6_r900-sixx_robot" params="prefix client_ip client_port use_fake_hardware">
+  <xacro:macro name="kuka_kr6_r900-sixx_robot" params="prefix use_fake_hardware">
     <!-- ros2 control instance -->
     <xacro:kuka_agilus_ros2_control
     name="kr6_r900-sixx" 
     prefix="${prefix}"
-    client_ip="${client_ip}"
-    client_port="${client_port}"
     use_fake_hardware="${use_fake_hardware}" />
 
     <link name="${prefix}base_link"/>

diff --git a/kuka_agilus_support/urdf/kr6_r900_sixx.urdf.xacro b/kuka_agilus_support/urdf/kr6_r900_sixx.urdf.xacro
diff --git a/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro b/kuka_agilus_support/urdf/kr_agilus_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_agilus_ros2_control" params="name prefix client_ip client_port use_fake_hardware:=false">
+  <xacro:macro name="kuka_agilus_ros2_control" params="name prefix use_fake_hardware:=false">
     <ros2_control name="${name}" type="system">     
       <hardware>
         <xacro:if value="${use_fake_hardware}">
@@ -9,6 +9,12 @@
           <param name="state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
+          <!-- Read parameters from rsi_config  -->
+          <xacro:property name="rsi_config" value="$(find kuka_rsi_hw_interface)/config/rsi_config.yaml" />
+          <xacro:property name="rsi_config_dict" value="${xacro.load_yaml(rsi_config)}"/>
+          <xacro:property name="client_ip" value="${rsi_config_dict['client_ip']}" />
+          <xacro:property name="client_port" value="${rsi_config_dict['client_port']}" />
+
           <plugin>kuka_rsi_hw_interface::KukaRSIHardwareInterface</plugin>
           <param name="client_ip">${client_ip}</param>
           <param name="client_port">${client_port}</param>

diff --git a/kuka_cybertech_support/launch/test_kr16_r2010-2.launch.py b/kuka_cybertech_support/launch/test_kr16_r2010-2.launch.py
@@ -28,6 +28,7 @@ def generate_launch_description():
                  "urdf", "kr16_r2010-2.urdf.xacro"]
             ),
             " ",
+            "use_fake_hardware:=true",
         ]
     )
     robot_description = {'robot_description': robot_description_content}

diff --git a/kuka_cybertech_support/urdf/kr16_r2010-2.urdf.xacro b/kuka_cybertech_support/urdf/kr16_r2010-2.urdf.xacro
@@ -1,19 +1,10 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kr16_r2010-2">
-<!-- Import urdf file  -->
-<xacro:include filename="$(find kuka_cybertech_support)/urdf/kr16_r2010-2_macro.xacro"/>
+  <!-- Import urdf file  -->
+  <xacro:include filename="$(find kuka_cybertech_support)/urdf/kr16_r2010-2_macro.xacro"/>
 
-<!-- Read parameters from rsi_config  -->
-<xacro:property name="rsi_config" value="$(find kuka_rsi_hw_interface)/config/rsi_config.yaml" />
-<xacro:property name="rsi_config_dict" value="${xacro.load_yaml(rsi_config)}"/>
-<xacro:property name="client_ip" value="${rsi_config_dict['client_ip']}" />
-<xacro:property name="client_port" value="${rsi_config_dict['client_port']}" />
+  <!-- Read additional arguments  -->
+  <xacro:arg name="use_fake_hardware" default="false" />
 
-<!-- Read additional arguments  -->
-<xacro:arg name="use_fake_hardware" default="false" />
-
-<xacro:kuka_kr16_r2010-2_robot prefix=""
-                  client_ip="${client_ip}" 
-                  client_port="${client_port}" 
-                  use_fake_hardware="$(arg use_fake_hardware)"/>
+  <xacro:kuka_kr16_r2010-2_robot prefix="" use_fake_hardware="$(arg use_fake_hardware)"/>
 </robot>
diff --git a/kuka_cybertech_support/urdf/kr16_r2010-2_macro.xacro b/kuka_cybertech_support/urdf/kr16_r2010-2_macro.xacro
@@ -3,13 +3,11 @@
   <xacro:include filename="$(find kuka_cybertech_support)/urdf/kr_cybertech_ros2_control.xacro" />
   <xacro:include filename="$(find kuka_cybertech_support)/urdf/kr_cybertech_transmission.xacro" />
 
-  <xacro:macro name="kuka_kr16_r2010-2_robot" params="prefix client_ip client_port use_fake_hardware">
+  <xacro:macro name="kuka_kr16_r2010-2_robot" params="prefix use_fake_hardware">
     <!-- ros2 control instance -->
     <xacro:kuka_cybertech_ros2_control
     name="kr16_r2010-2" 
     prefix="${prefix}"
-    client_ip="${client_ip}"
-    client_port="${client_port}"
     use_fake_hardware="${use_fake_hardware}" />
 
     <link name="${prefix}base_link"/>

diff --git a/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro b/kuka_cybertech_support/urdf/kr_cybertech_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_cybertech_ros2_control" params="name prefix client_ip client_port use_fake_hardware:=false">
+  <xacro:macro name="kuka_cybertech_ros2_control" params="name prefix use_fake_hardware:=false">
     <ros2_control name="${name}" type="system">     
       <hardware>
         <xacro:if value="${use_fake_hardware}">
@@ -9,6 +9,12 @@
           <param name="state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
+          <!-- Read parameters from rsi_config  -->
+          <xacro:property name="rsi_config" value="$(find kuka_rsi_hw_interface)/config/rsi_config.yaml" />
+          <xacro:property name="rsi_config_dict" value="${xacro.load_yaml(rsi_config)}"/>
+          <xacro:property name="client_ip" value="${rsi_config_dict['client_ip']}" />
+          <xacro:property name="client_port" value="${rsi_config_dict['client_port']}" />
+
           <plugin>kuka_rsi_hw_interface::KukaRSIHardwareInterface</plugin>
           <param name="client_ip">${client_ip}</param>
           <param name="client_port">${client_port}</param>
-Original file line number
+Diff line change
@@ Expand Up / @@ -28,6 +28,7 @@ def generate_launch_description(): @@
                      "urdf", "kr6_r700-sixx.urdf.xacro"]
                 ),
                 " ",
+                "use_fake_hardware:=true",
             ]
         )
         robot_description = {'robot_description': robot_description_content}
@@ Expand Down @@