robot name prefix in config files (#189)

lbr-stack · Oct 19, 2024 · 9b65978 · 9b65978
1 parent 4c02bef
commit 9b65978
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Showing 31 changed files with 487 additions and 491 deletions.
diff --git a/lbr_bringup/config/gazebo.rviz b/lbr_bringup/config/gazebo.rviz
@@ -67,47 +67,47 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        link_0:
+        lbr_link_0:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_1:
+        lbr_link_1:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_2:
+        lbr_link_2:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_3:
+        lbr_link_3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_4:
+        lbr_link_4:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_5:
+        lbr_link_5:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_6:
+        lbr_link_6:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_7:
+        lbr_link_7:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_ee:
+        lbr_link_ee:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -119,7 +119,7 @@ Visualization Manager:
         Inertia: false
         Mass: false
       Name: RobotModel
-      TF Prefix: lbr
+      TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true

diff --git a/lbr_bringup/config/hardware.rviz b/lbr_bringup/config/hardware.rviz
@@ -68,47 +68,47 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        link_0:
+        lbr_link_0:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_1:
+        lbr_link_1:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_2:
+        lbr_link_2:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_3:
+        lbr_link_3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_4:
+        lbr_link_4:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_5:
+        lbr_link_5:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_6:
+        lbr_link_6:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_7:
+        lbr_link_7:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_ee:
+        lbr_link_ee:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -120,7 +120,7 @@ Visualization Manager:
         Inertia: false
         Mass: false
       Name: RobotModel
-      TF Prefix: lbr
+      TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true

diff --git a/lbr_bringup/config/mock.rviz b/lbr_bringup/config/mock.rviz
@@ -67,47 +67,47 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        link_0:
+        lbr_link_0:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_1:
+        lbr_link_1:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_2:
+        lbr_link_2:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_3:
+        lbr_link_3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_4:
+        lbr_link_4:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_5:
+        lbr_link_5:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_6:
+        lbr_link_6:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_7:
+        lbr_link_7:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_ee:
+        lbr_link_ee:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -119,7 +119,7 @@ Visualization Manager:
         Inertia: false
         Mass: false
       Name: RobotModel
-      TF Prefix: lbr
+      TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true

diff --git a/lbr_bringup/lbr_bringup/ros2_control.py b/lbr_bringup/lbr_bringup/ros2_control.py
@@ -122,10 +122,6 @@ def node_robot_state_publisher(
             parameters=[
                 robot_description,
                 {"use_sim_time": use_sim_time},
-                # use robot name as frame prefix
-                {
-                    "frame_prefix": PathJoinSubstitution([robot_name, ""])
-                },  # neat hack to add trailing slash, which is required by frame_prefix
             ],
             namespace=robot_name,
             **kwargs,

diff --git a/lbr_description/gazebo/lbr_gazebo.xacro b/lbr_description/gazebo/lbr_gazebo.xacro
@@ -29,20 +29,20 @@
         </xacro:macro>
 
         <!-- references -->
-        <xacro:gazebo_link_reference name="link_0" />
-        <xacro:gazebo_joint_reference name="A1" />
-        <xacro:gazebo_link_reference name="link_1" />
-        <xacro:gazebo_joint_reference name="A2" />
-        <xacro:gazebo_link_reference name="link_2" />
-        <xacro:gazebo_joint_reference name="A3" />
-        <xacro:gazebo_link_reference name="link_3" />
-        <xacro:gazebo_joint_reference name="A4" />
-        <xacro:gazebo_link_reference name="link_4" />
-        <xacro:gazebo_joint_reference name="A5" />
-        <xacro:gazebo_link_reference name="link_5" />
-        <xacro:gazebo_joint_reference name="A6" />
-        <xacro:gazebo_link_reference name="link_6" />
-        <xacro:gazebo_joint_reference name="A7" />
-        <xacro:gazebo_link_reference name="link_7" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_0" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A1" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_1" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A2" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_2" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A3" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_3" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A4" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_4" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A5" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_5" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A6" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_6" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A7" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_7" />
     </xacro:macro>
 </robot>
diff --git a/lbr_description/ros2_control/lbr_system_interface.xacro b/lbr_description/ros2_control/lbr_system_interface.xacro
@@ -124,43 +124,43 @@
                 </joint>
             </xacro:macro>
 
-            <xacro:joint_interface name="A1"
+            <xacro:joint_interface name="${robot_name}_A1"
                 min_position="${joint_limits['A1']['lower'] * PI / 180}"
                 max_position="${joint_limits['A1']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A1']['velocity'] * PI / 180}"
                 max_torque="${joint_limits['A1']['effort']}"
                 mode="${mode}" />
-            <xacro:joint_interface name="A2"
+            <xacro:joint_interface name="${robot_name}_A2"
                 min_position="${joint_limits['A2']['lower'] * PI / 180}"
                 max_position="${joint_limits['A2']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A2']['velocity'] * PI / 180}"
                 max_torque="${joint_limits['A2']['effort']}"
                 mode="${mode}" />
-            <xacro:joint_interface name="A3"
+            <xacro:joint_interface name="${robot_name}_A3"
                 min_position="${joint_limits['A3']['lower'] * PI / 180}"
                 max_position="${joint_limits['A3']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A3']['velocity'] * PI / 180}"
                 max_torque="${joint_limits['A3']['effort']}"
                 mode="${mode}" />
-            <xacro:joint_interface name="A4"
+            <xacro:joint_interface name="${robot_name}_A4"
                 min_position="${joint_limits['A4']['lower'] * PI / 180}"
                 max_position="${joint_limits['A4']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A4']['velocity'] * PI / 180}"
                 max_torque="${joint_limits['A4']['effort']}"
                 mode="${mode}" />
-            <xacro:joint_interface name="A5"
+            <xacro:joint_interface name="${robot_name}_A5"
                 min_position="${joint_limits['A5']['lower'] * PI / 180}"
                 max_position="${joint_limits['A5']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A5']['velocity'] * PI / 180}"
                 max_torque="${joint_limits['A5']['effort']}"
                 mode="${mode}" />
-            <xacro:joint_interface name="A6"
+            <xacro:joint_interface name="${robot_name}_A6"
                 min_position="${joint_limits['A6']['lower'] * PI / 180}"
                 max_position="${joint_limits['A6']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A6']['velocity'] * PI / 180}"
                 max_torque="${joint_limits['A6']['effort']}"
                 mode="${mode}" />
-            <xacro:joint_interface name="A7"
+            <xacro:joint_interface name="${robot_name}_A7"
                 min_position="${joint_limits['A7']['lower'] * PI / 180}"
                 max_position="${joint_limits['A7']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A7']['velocity'] * PI / 180}"

diff --git a/lbr_description/urdf/iiwa14/iiwa14.xacro b/lbr_description/urdf/iiwa14/iiwa14.xacro
@@ -19,7 +19,7 @@
         between world and link_0-->
     <joint name="world_joint" type="fixed">
         <parent link="world" />
-        <child link="link_0" />
+        <child link="$(arg robot_name)_link_0" />
     </joint>
 
     <!-- iiwa -->