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showcase for transmissions in mock hw #10

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showcase for transmissions in mock hw #10

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12 changes: 12 additions & 0 deletions example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,14 @@ def generate_launch_description():
"slowdown", default_value="50.0", description="Slowdown factor of the RRbot."
)
)
declared_arguments.append(
DeclareLaunchArgument(
"use_mock_hardware",
default_value="false",
description="Use mock hardware instead of real one.",
choices=["true", "false"],
)
)
declared_arguments.append(
DeclareLaunchArgument(
"robot_controller",
Expand All @@ -57,6 +65,7 @@ def generate_launch_description():
# Initialize Arguments
prefix = LaunchConfiguration("prefix")
slowdown = LaunchConfiguration("slowdown")
use_mock_hardware = LaunchConfiguration("use_mock_hardware")
robot_controller = LaunchConfiguration("robot_controller")
gui = LaunchConfiguration("gui")

Expand All @@ -78,6 +87,9 @@ def generate_launch_description():
" ",
"slowdown:=",
slowdown,
" ",
"use_mock_hardware:=",
use_mock_hardware,
]
)
robot_description = {"robot_description": robot_description_content}
Expand Down
14 changes: 10 additions & 4 deletions ...le_8/description/ros2_control/rrbot_transmissions_system_position_only.ros2_control.xacro
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Original file line number Diff line number Diff line change
@@ -1,12 +1,18 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="rrbot_transmissions_system_position_only" params="name prefix slowdown:=2.0">
<xacro:macro name="rrbot_transmissions_system_position_only" params="name prefix slowdown:=^|2.0 use_mock_hardware:=^|false mock_sensor_commands:=^|false">

<ros2_control name="${name}" type="system">

<hardware>
<plugin>ros2_control_demo_example_8/RRBotTransmissionsSystemPositionOnlyHardware</plugin>
<xacro:if value="${use_mock_hardware}">
<plugin>mock_components/GenericSystem</plugin>
<param name="mock_sensor_commands">${mock_sensor_commands}</param>
</xacro:if>
<xacro:unless value="${use_mock_hardware}">
<plugin>ros2_control_demo_example_8/RRBotTransmissionsSystemPositionOnlyHardware</plugin>
</xacro:unless>
<param name="actuator_slowdown">${slowdown}</param>
</hardware>

Expand All @@ -31,7 +37,7 @@
<actuator name="actuator1" role="actuator1"/>
<joint name="joint1" role="joint1">
<mechanical_reduction>2.0</mechanical_reduction>
<offset>0.0</offset>
<offset>0.2</offset>
</joint>
</transmission>

Expand All @@ -40,7 +46,7 @@
<actuator name="actuator2" role="actuator2"/>
<joint name="joint2" role="joint2">
<mechanical_reduction>4.0</mechanical_reduction>
<offset>0.0</offset>
<offset>-0.2</offset>
</joint>
</transmission>
</ros2_control>
Expand Down
8 changes: 6 additions & 2 deletions example_8/description/urdf/rrbot_transmissions_system_position_only.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
<!-- Enable setting arguments from the launch file -->
<xacro:arg name="prefix" default="" />
<xacro:arg name="slowdown" default="100.0" />
<xacro:arg name="use_mock_hardware" default="false" />

<!-- Import RRBot macro -->
<xacro:include filename="$(find ros2_control_demo_description)/rrbot/urdf/rrbot_description.urdf.xacro" />
Expand All @@ -27,7 +28,10 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
</xacro:rrbot>

<xacro:rrbot_transmissions_system_position_only
name="RRBotTransmissionsSystemPositionOnly" prefix="$(arg prefix)"
slowdown="$(arg slowdown)" />
name="RRBotTransmissionsSystemPositionOnly"
prefix="$(arg prefix)"
slowdown="$(arg slowdown)"
use_mock_hardware="$(arg use_mock_hardware)"
/>

</robot>
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