Update gripper descriptions for use on HW #206
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Pass though more hardware parameters for gripper control: * `use_internal_bus_gripper_comm`: specify if gripper comms will pass through the robot internally * `(gripper_)include_ros2_control`: specify if a ros2_control instance is needed for the gripper (will be needed if we are simulating or directly communicating with the gripper via USB from the PC) * `(gripper_)com_port`: specify the port the gripper can be exected on
kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
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kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
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| @@ -29,7 +29,9 @@ | |||
| use_external_cable:=false | |||
| initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)} | |||
| gripper_max_velocity:=100.0 | |||
| gripper_max_force:=100.0"> | |||
| gripper_max_force:=100.0 | |||
| gripper_include_ros2_control:=true | |||
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Should this default to true? Is that really the common use case?
Can we add some documentation to the main README to tell users about the options the have here and what they do?
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I defaulted it to true since it should be true in simulation, but I can change that if you think the most common use case is on hardware when the gripper is plugged in to the kinova arm interface. We could also just remove the default and require it to be explicitly specified...I'm also thinking now, couldn't we just determine this one based on the use_internal_bus_gripper_comm parameter? In all cases where we're not using the internal kinova comms to the gripper (simulation or USB connection to the gripper) wouldn't we require a ros2_control instance for the gripper?
I added documentation on the parameters in the kortex_description repo.
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I'm also thinking now, couldn't we just determine this one based on the use_internal_bus_gripper_comm parameter?
I was thinking the same thing and agree it would be a better approach.
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Ok done. And just tested it, looks like it's working as expected.
Remove `use_internal_bus_gripper_comm` from `load_gripper` macros
`use_internal_bus_gripper_comm` was removed from the `load_gripper` macro since it was unused.
Add "Default" column to table and add "Example Usage" section in place of "Example Value" column in table
Add `use_internal_bus_gripper_comm` param back into `load_gripper` macro and use it to determine whether or not to launch a ros2_control instance for the gripper. We expect `use_internal_bus_gripper_comm` to be false if we are running the gripper in simulation or the gripper is connected to the PC via USB rather than through the internal kinova bus. In those cases we need to launch a ros2_control instance to control the gripper. Remove `gripper_include_ros2_control` param from macros since we're using the `use_internal_bus_gripper_comm` param and the simulation params to determine if we need to launch a ros2_control instance for the gripper. Update the kortex_description readme to reflect these changes.
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These changes look good but because lots of the included launch files are in a broken state this is difficult to test.
I was able to run
ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true
and had to manually switch the planner to OMPL and then I was able to move the gripper and arm in sim. I don't have access to hardware right now to test so we will have to open up new PR's if this introduces issues.
Pass though more hardware parameters for gripper control:
use_internal_bus_gripper_comm: specify if gripper comms will pass through the robot internally(gripper_)include_ros2_control: specify if a ros2_control instance is needed for the gripper (will be needed if we are simulating or directly communicating with the gripper via USB from the PC)(gripper_)com_port: specify the port the gripper can be exected on