Minor modifications

README.md

@@ -215,7 +215,7 @@ You can specify the following arguments if you wish to change your arm configura
 
 * `robot_type`: Your robot model. Default value (and only one) is `gen3`.
 
-* `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85`, `robotiq_2f_140` or `""`. Default is `robotiq_2f_85`. An empty string will not initialise any gripper.
+* `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85`, `robotiq_2f_140` or `""`. Default is `""`. An empty string will not initialise any gripper.
 
 * `gripper_joint_name` : Name of the controlled joint of the gripper attached to the arm. Default value is `robotiq_85_left_knuckle_joint`.
 
@@ -325,7 +325,7 @@ ros2 launch kortex_bringup kortex_sim_control.launch.py \
 * `description_file` : URDF/XACRO description file with the robot. Default value is `kinova.urdf.xacro`.
 * `prefix` : Prefix of the joint names, useful for multi-robot setup. If changed, then also joint names in the controllers' configuration have to be updated. Default value is `""` (none).
 * `use_sim_time` : Use simulated clock. Default value is `true`.
-* `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85`, `robotiq_2f_140` or `""`. Default is `robotiq_2f_85`. An empty string will not initialise any gripper.
+* `gripper` : Gripper to use. Possible values for the Gen3 are: `robotiq_2f_85`, `robotiq_2f_140`, `""` and `gen3_lite_2f`. Default is `robotiq_2f_85`. An empty string will not initialise any gripper.
 
 #### MoveIt2
 

kortex_bringup/launch/gen3_lite.launch.py

@@ -61,7 +61,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "robot_controller",
-            default_value="gen3_lite_joint_trajectory_controller",
+            default_value="joint_trajectory_controller",
             description="Robot controller to start.",
         )
     )

kortex_bringup/launch/kortex_sim_control.launch.py

@@ -369,7 +369,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "robot_controller",
-            default_value="gen3_lite_joint_trajectory_controller",
+            default_value="joint_trajectory_controller",
             description="Robot controller to start.",
         )
     )
@@ -404,8 +404,8 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "gripper",
-            default_value="robotiq_2f_85",
-            choices=["robotiq_2f_85", "robotiq_2f_140", "gen3_lite_2f"],
+            default_value="",
+            choices=["robotiq_2f_85", "robotiq_2f_140", "gen3_lite_2f", ""],
             description="Gripper to use",
         )
     )

kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml

@@ -5,7 +5,7 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    gen3_lite_joint_trajectory_controller:
+    joint_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController
 
     twist_controller:
@@ -17,7 +17,7 @@ controller_manager:
     gen3_lite_2f_gripper_controller:
       type: position_controllers/GripperActionController
 
-gen3_lite_joint_trajectory_controller:
+joint_trajectory_controller:
   ros__parameters:
     joints:
       - joint_1

ros2_kortex.humble.repos

@@ -15,3 +15,7 @@ repositories:
     type: git
     url: https://github.com/picknikrobotics/ros2_robotiq_gripper.git
     version: b6136bdc866a929bfb096890ca61dde1335ffd30
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools/tree/humble
+    version: humble