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Update ros2_control usage
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@sjahr
sjahr committed Dec 19, 2023
1 parent 583e8e8 commit 779724f
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Showing 8 changed files with 82 additions and 25 deletions.
28 changes: 21 additions & 7 deletions dual_arm_panda_moveit_config/config/panda.ros2_control.xacro
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Expand Up @@ -13,49 +13,63 @@
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint1']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${prefix}panda_joint2">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint2']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${prefix}panda_joint3">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint3']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${prefix}panda_joint4">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint4']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${prefix}panda_joint5">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint5']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${prefix}panda_joint6">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint6']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${prefix}panda_joint7">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint7']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
</ros2_control>
</xacro:macro>
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4 changes: 4 additions & 0 deletions dual_arm_panda_moveit_config/config/panda_hand.ros2_control.xacro
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Expand Up @@ -12,6 +12,8 @@
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${prefix}panda_finger_joint2">
<param name="mimic">${prefix}panda_finger_joint1</param>
Expand All @@ -21,6 +23,8 @@
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<param name="initial_value">0.0</param>
</state_interface>
</joint>
</ros2_control>
</xacro:macro>
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5 changes: 4 additions & 1 deletion dual_arm_panda_moveit_config/launch/demo.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,10 @@ def generate_launch_description():
ros2_control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[moveit_config.robot_description, ros2_controllers_path],
parameters=[ros2_controllers_path],
remappings=[
("/controller_manager/robot_description", "/robot_description"),
],
output="both",
)

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24 changes: 18 additions & 6 deletions fanuc_moveit_config/config/fanuc.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -13,42 +13,54 @@
<state_interface name="position">
<param name="initial_value">${initial_positions['joint_1']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="joint_2">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint_2']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="joint_3">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint_3']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="joint_4">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint_4']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="joint_5">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint_5']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="joint_6">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint_6']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
</ros2_control>
</xacro:macro>
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5 changes: 4 additions & 1 deletion fanuc_moveit_config/launch/demo.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,10 @@ def generate_launch_description():
ros2_control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[moveit_config.robot_description, ros2_controllers_path],
parameters=[ros2_controllers_path],
remappings=[
("/controller_manager/robot_description", "/robot_description"),
],
output="both",
)

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28 changes: 21 additions & 7 deletions panda_moveit_config/config/panda.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -20,49 +20,63 @@
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint1']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="panda_joint2">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint2']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="panda_joint3">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint3']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="panda_joint4">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint4']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="panda_joint5">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint5']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="panda_joint6">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint6']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="panda_joint7">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['panda_joint7']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
</ros2_control>
</xacro:macro>
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8 changes: 6 additions & 2 deletions panda_moveit_config/config/panda_hand.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,9 @@
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="panda_finger_joint2">
<param name="mimic">panda_finger_joint1</param>
Expand All @@ -27,7 +29,9 @@
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
</ros2_control>
</xacro:macro>
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5 changes: 4 additions & 1 deletion panda_moveit_config/launch/demo.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,10 @@ def generate_launch_description():
ros2_control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[moveit_config.robot_description, ros2_controllers_path],
parameters=[ros2_controllers_path],
remappings=[
("/controller_manager/robot_description", "/robot_description"),
],
output="screen",
)

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