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Add calibration file to launch arguments #1001

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merged 4 commits into from
May 22, 2024
Merged

Add calibration file to launch arguments #1001

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d350d06
Added kinematics_params_file as launch argument
VinDp May 22, 2024
31649a3
Removed old calibration file definition
VinDp May 22, 2024
b803684
Updated ur_bringup as well
VinDp May 22, 2024
fc0f9fe
Fixed description pkg to avoid breaking changes
VinDp May 22, 2024
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20 changes: 16 additions & 4 deletions ur_bringup/launch/ur_control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ def launch_setup(context, *args, **kwargs):
controllers_file = LaunchConfiguration("controllers_file")
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
kinematics_params_file = LaunchConfiguration("kinematics_params_file")
tf_prefix = LaunchConfiguration("tf_prefix")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
Expand All @@ -72,9 +73,6 @@ def launch_setup(context, *args, **kwargs):
joint_limit_params = PathJoinSubstitution(
[FindPackageShare(description_package), "config", ur_type, "joint_limits.yaml"]
)
kinematics_params = PathJoinSubstitution(
[FindPackageShare(description_package), "config", ur_type, "default_kinematics.yaml"]
)
physical_params = PathJoinSubstitution(
[FindPackageShare(description_package), "config", ur_type, "physical_parameters.yaml"]
)
Expand Down Expand Up @@ -104,7 +102,7 @@ def launch_setup(context, *args, **kwargs):
joint_limit_params,
" ",
"kinematics_params:=",
kinematics_params,
kinematics_params_file,
" ",
"physical_params:=",
physical_params,
Expand Down Expand Up @@ -418,6 +416,20 @@ def generate_launch_description():
description="URDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"kinematics_params_file",
default_value=PathJoinSubstitution(
[
FindPackageShare(LaunchConfiguration("description_package")),
"config",
LaunchConfiguration("ur_type"),
"default_kinematics.yaml",
]
),
description="The calibration configuration of the actual robot used.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"tf_prefix",
Expand Down
20 changes: 16 additions & 4 deletions ur_robot_driver/launch/ur_control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ def launch_setup(context, *args, **kwargs):
controllers_file = LaunchConfiguration("controllers_file")
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
kinematics_params_file = LaunchConfiguration("kinematics_params_file")
tf_prefix = LaunchConfiguration("tf_prefix")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
Expand Down Expand Up @@ -78,9 +79,6 @@ def launch_setup(context, *args, **kwargs):
joint_limit_params = PathJoinSubstitution(
[FindPackageShare(description_package), "config", ur_type, "joint_limits.yaml"]
)
kinematics_params = PathJoinSubstitution(
[FindPackageShare(description_package), "config", ur_type, "default_kinematics.yaml"]
)
physical_params = PathJoinSubstitution(
[FindPackageShare(description_package), "config", ur_type, "physical_parameters.yaml"]
)
Expand Down Expand Up @@ -110,7 +108,7 @@ def launch_setup(context, *args, **kwargs):
joint_limit_params,
" ",
"kinematics_params:=",
kinematics_params,
kinematics_params_file,
" ",
"physical_params:=",
physical_params,
Expand Down Expand Up @@ -445,6 +443,20 @@ def generate_launch_description():
description="URDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"kinematics_params_file",
default_value=PathJoinSubstitution(
[
FindPackageShare(LaunchConfiguration("description_package")),
"config",
LaunchConfiguration("ur_type"),
"default_kinematics.yaml",
]
),
description="The calibration configuration of the actual robot used.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"tf_prefix",
Expand Down
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