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Draft concept for injecting ros2_control hardware system #1

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Draft concept for injecting ros2_control hardware system #1

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62 changes: 7 additions & 55 deletions urdf/ur.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -4,67 +4,19 @@
<xacro:macro name="ur_ros2_control" params="
name
prefix
use_fake_hardware:=false fake_sensor_commands:=false
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
add_non_joint_interfaces:=true
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
script_filename output_recipe_filename
input_recipe_filename tf_prefix
hash_kinematics robot_ip
tool_voltage:=0 tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1
tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 tool_device_name:=/tmp/ttyUR tool_tcp_port:=54321
reverse_port:=50001
script_sender_port:=50002
reverse_ip:=0.0.0.0
script_command_port:=50004
transmission_hw_interface:=hardware_interface/PositionJointInterface
**ros2_control_hardware
">

<!-- Add URDF transmission elements (for ros_control) -->
<!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->

<ros2_control name="${name}" type="system">
<hardware>
<xacro:if value="${sim_gazebo}">
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</xacro:if>
<xacro:if value="${sim_ignition}">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</xacro:if>
<xacro:if value="${use_fake_hardware}">
<plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware or sim_gazebo or sim_ignition}">
<plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
<param name="robot_ip">${robot_ip}</param>
<param name="script_filename">${script_filename}</param>
<param name="output_recipe_filename">${output_recipe_filename}</param>
<param name="input_recipe_filename">${input_recipe_filename}</param>
<param name="headless_mode">${headless_mode}</param>
<param name="reverse_port">${reverse_port}</param>
<param name="script_sender_port">${script_sender_port}</param>
<param name="reverse_ip">${reverse_ip}</param>
<param name="script_command_port">${script_command_port}</param>
<param name="tf_prefix">"${tf_prefix}"</param>
<param name="non_blocking_read">0</param>
<param name="servoj_gain">2000</param>
<param name="servoj_lookahead_time">0.03</param>
<param name="use_tool_communication">${use_tool_communication}</param>
<param name="kinematics/hash">${hash_kinematics}</param>
<param name="tool_voltage">${tool_voltage}</param>
<param name="tool_parity">${tool_parity}</param>
<param name="tool_baud_rate">${tool_baud_rate}</param>
<param name="tool_stop_bits">${tool_stop_bits}</param>
<param name="tool_rx_idle_chars">${tool_rx_idle_chars}</param>
<param name="tool_tx_idle_chars">${tool_tx_idle_chars}</param>
<param name="tool_device_name">${tool_device_name}</param>
<param name="tool_tcp_port">${tool_tcp_port}</param>
</xacro:unless>
</hardware>
<!-- Start hardware dependency injection from outside the macro-->
<xacro:insert_block name="ros2_control_hardware" />
<!-- End hardware dependency injection -->
<joint name="${prefix}shoulder_pan_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
Expand Down Expand Up @@ -162,7 +114,7 @@
<state_interface name="effort"/>
</joint>

<xacro:unless value="${sim_gazebo or sim_ignition}">
<xacro:if value="${add_non_joint_interfaces}">
<sensor name="tcp_fts_sensor">
<state_interface name="force.x"/>
<state_interface name="force.y"/>
Expand Down Expand Up @@ -311,7 +263,7 @@
<state_interface name="initialized"/>
</gpio>

</xacro:unless>
</xacro:if>

</ros2_control>

Expand Down
91 changes: 64 additions & 27 deletions urdf/ur.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
<!-- include ros2 control -->
<xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />
<!-- include ros2_control hardware instantiation (for now, then migrate later to responsible packages) -->
<xacro:include filename="$(find ur_description)/urdf/ur_hardware.xacro"/>

<!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e -->
<!-- the default value should raise an error in case this was called without defining the type -->
Expand All @@ -17,6 +19,7 @@
<xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
<xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
<xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>

<xacro:arg name="transmission_hw_interface" default=""/>
<xacro:arg name="safety_limits" default="false"/>
<xacro:arg name="safety_pos_margin" default="0.15"/>
Expand Down Expand Up @@ -54,11 +57,15 @@
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
<xacro:property name="sim_gazebo" default="$(arg sim_gazebo)"/>
<xacro:property name="sim_ignition" default="$(arg sim_ignition)"/>
<xacro:property name="fake_hardware" default="$(arg use_fake_hardware)"/>


<!-- create link fixed to the "world" -->
<link name="world" />

<!-- load model data -->
<!-- This puts a bunch of named parameters in the top-level scope which are consumed inside later macros-->
<!-- See https://github.com/ros/xacro/pull/105 -->
<xacro:read_model_data
joint_limits_parameters_file="$(arg joint_limit_params)"
kinematics_parameters_file="$(arg kinematics_params)"
Expand All @@ -78,35 +85,65 @@
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
</xacro:ur_robot>


<!-- ros2 control instance -->
<!-- ros2 control, if needed -->
<!-- ur_description might eventually prepare fake/mock hardware only, delegating the <hardware> block to a consumer package -->
<xacro:property name="needs_non_joint_interfaces" value="${not (sim_gazebo or sim_ignition)}"/>
<!-- Kinematics hash comes from read_model_data -->
<xacro:ur_ros2_control
name="$(arg name)" prefix="$(arg prefix)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
sim_gazebo="$(arg sim_gazebo)"
sim_ignition="$(arg sim_ignition)"
headless_mode="$(arg headless_mode)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
use_tool_communication="$(arg use_tool_communication)"
tool_voltage="$(arg tool_voltage)"
tool_parity="$(arg tool_parity)"
tool_baud_rate="$(arg tool_baud_rate)"
tool_stop_bits="$(arg tool_stop_bits)"
tool_rx_idle_chars="$(arg tool_rx_idle_chars)"
tool_tx_idle_chars="$(arg tool_tx_idle_chars)"
tool_device_name="$(arg tool_device_name)"
tool_tcp_port="$(arg tool_tcp_port)"
robot_ip="$(arg robot_ip)"
script_filename="$(arg script_filename)"
output_recipe_filename="$(arg output_recipe_filename)"
input_recipe_filename="$(arg input_recipe_filename)"
reverse_ip="$(arg reverse_ip)"
script_command_port="$(arg script_command_port)"
tf_prefix=""
hash_kinematics="${kinematics_hash}"
/>
name="$(arg name)" prefix="$(arg prefix)"
add_non_joint_interfaces="${needs_non_joint_interfaces}"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
>
<!-- dz: For now, I conditionally pass the right <hardware> as a block param. -->
<!-- dz: Later, this wouldn't be necessary, a consumer package could create and pass it in its top-level xacro -->
<ros2_control_hardware>
<xacro:unless value="${sim_gazebo or sim_ignition or fake_hardware}">
<xacro:ur_real_hardware_block
headless_mode="$(arg headless_mode)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
use_tool_communication="$(arg use_tool_communication)"
tool_voltage="$(arg tool_voltage)"
tool_parity="$(arg tool_parity)"
tool_baud_rate="$(arg tool_baud_rate)"
tool_stop_bits="$(arg tool_stop_bits)"
tool_rx_idle_chars="$(arg tool_rx_idle_chars)"
tool_tx_idle_chars="$(arg tool_tx_idle_chars)"
tool_device_name="$(arg tool_device_name)"
tool_tcp_port="$(arg tool_tcp_port)"
robot_ip="$(arg robot_ip)"
script_filename="$(arg script_filename)"
output_recipe_filename="$(arg output_recipe_filename)"
input_recipe_filename="$(arg input_recipe_filename)"
reverse_ip="$(arg reverse_ip)"
script_command_port="$(arg script_command_port)"
transmission_hw_interface="$(arg transmission_hw_interface)"
tf_prefix=""
hash_kinematics="${kinematics_hash}"
/>
</xacro:unless>
<xacro:if value="${fake_hardware and not (sim_gazebo or sim_ignition)}">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">$(arg fake_sensor_commands)</param>
<param name="state_following_offset">0.0</param>
</hardware>
</xacro:if>
<xacro:if value="${sim_gazebo}">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
</xacro:if>
<xacro:if value="${sim_ignition}">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
</xacro:if>
</ros2_control_hardware>
</xacro:ur_ros2_control>



<!-- dz: These move to their respective simulation packages -->
<xacro:if value="$(arg sim_gazebo)">
<!-- Gazebo plugins -->
<gazebo reference="world">
Expand Down
46 changes: 46 additions & 0 deletions urdf/ur_hardware.xacro
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@@ -0,0 +1,46 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="ur_real_hardware_block" params="
headless_mode:=false
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
script_filename output_recipe_filename
input_recipe_filename tf_prefix
hash_kinematics robot_ip
tool_voltage:=0 tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1
tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 tool_device_name:=/tmp/ttyUR tool_tcp_port:=54321
reverse_port:=50001
script_sender_port:=50002
reverse_ip:=0.0.0.0
script_command_port:=50004
transmission_hw_interface:=hardware_interface/PositionJointInterface
">
<hardware>
<plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
<param name="robot_ip">${robot_ip}</param>
<param name="script_filename">${script_filename}</param>
<param name="output_recipe_filename">${output_recipe_filename}</param>
<param name="input_recipe_filename">${input_recipe_filename}</param>
<param name="headless_mode">${headless_mode}</param>
<param name="reverse_port">${reverse_port}</param>
<param name="script_sender_port">${script_sender_port}</param>
<param name="reverse_ip">${reverse_ip}</param>
<param name="script_command_port">${script_command_port}</param>
<param name="tf_prefix">"${tf_prefix}"</param>
<param name="non_blocking_read">0</param>
<param name="servoj_gain">2000</param>
<param name="servoj_lookahead_time">0.03</param>
<param name="use_tool_communication">${use_tool_communication}</param>
<param name="kinematics/hash">${hash_kinematics}</param>
<param name="tool_voltage">${tool_voltage}</param>
<param name="tool_parity">${tool_parity}</param>
<param name="tool_baud_rate">${tool_baud_rate}</param>
<param name="tool_stop_bits">${tool_stop_bits}</param>
<param name="tool_rx_idle_chars">${tool_rx_idle_chars}</param>
<param name="tool_tx_idle_chars">${tool_tx_idle_chars}</param>
<param name="tool_device_name">${tool_device_name}</param>
<param name="tool_tcp_port">${tool_tcp_port}</param>
</hardware>
</xacro:macro>
</robot>
24 changes: 1 addition & 23 deletions urdf/ur_macro.xacro
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Expand Up @@ -61,29 +61,7 @@
safety_limits:=false
safety_pos_margin:=0.15
safety_k_position:=20
use_fake_hardware:=false
fake_sensor_commands:=false
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
tool_voltage:=0
tool_parity:=0
tool_baud_rate:=115200
tool_stop_bits:=1
tool_rx_idle_chars:=1.5
tool_tx_idle_chars:=3.5
tool_device_name:=/tmp/ttyUR
tool_tcp_port:=54321
robot_ip:=0.0.0.0
script_filename:=to_be_filled_by_ur_robot_driver
output_recipe_filename:=to_be_filled_by_ur_robot_driver
input_recipe_filename:=to_be_filled_by_ur_robot_driver
reverse_port:=50001
script_sender_port:=50002
reverse_ip:=0.0.0.0
script_command_port:=50004">
">



Expand Down