added ps5_control.py

README.md

@@ -64,7 +64,7 @@ ros2 launch ur_robotiq_moveit_config ur_robotiq_moveit.launch.py use_fake_hardwa
 ### use_fake_hardware:=true
 Terminal 1.:
 ```bash
-ros2 launch ur_robotiq_description ur_robotiq_control.launch.py robot_ip:=aaa.bbb.ccc.ddd use_fake_hardware:=true launch_rviz:=false
+ros2 launch ur_robotiq_description ur_robotiq_control.launch.py robot_ip:=aaa.bbb.ccc.ddd use_fake_hardware:=true launch_rviz:=false initial_joint_controller:=joint_trajectory_controller
 ```
 Terminal 2.:
 ```bash

docker-compose.yaml

@@ -2,6 +2,7 @@ version: '3.8'
 services:
   ros2:
     build: .
+    privileged: true
     volumes:
       - ./src:/ros2_ws/src
       - /tmp/.X11-unix:/tmp/.X11-unix
@@ -13,7 +14,8 @@ services:
       - DISPLAY=$DISPLAY
     devices:
       - /dev/dri:/dev/dri
-      - /dev/input:/dev/input
+      - /dev/input/js0:/dev/input/js0
+      - /dev/input/js1:/dev/input/js1
 
 networks:
   ros_network:

src/ur_robotiq_description/config/ur_robotiq_controllers.yaml

@@ -33,6 +33,9 @@ controller_manager:
     robotiq_activation_controller:
       type: robotiq_controllers/RobotiqActivationController
 
+    combined_joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
 
 speed_scaling_state_broadcaster:
   ros__parameters:
@@ -162,3 +165,31 @@ robotiq_activation_controller:
   ros__parameters:
     default: true
 
+combined_trajectory_controller:
+  ros__parameters:
+    joints:
+      - $(var tf_prefix)shoulder_pan_joint
+      - $(var tf_prefix)shoulder_lift_joint
+      - $(var tf_prefix)elbow_joint
+      - $(var tf_prefix)wrist_1_joint
+      - $(var tf_prefix)wrist_2_joint
+      - $(var tf_prefix)wrist_3_joint
+      - $(var tf_prefix)finger_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    constraints:
+      stopped_velocity_tolerance: 0.2
+      goal_time: 0.0
+      $(var tf_prefix)shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)elbow_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)finger_joint: { trajectory: 0.2, goal: 0.1 }

src/ur_robotiq_description/launch/ur_robotiq_control.launch.py

@@ -25,6 +25,7 @@ def launch_setup(context, *args, **kwargs):
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
     fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
     controller_spawner_timeout = LaunchConfiguration("controller_spawner_timeout")
+    initial_joint_controller = LaunchConfiguration("initial_joint_controller")
     activate_joint_controller = LaunchConfiguration("activate_joint_controller")
     launch_rviz = LaunchConfiguration("launch_rviz")
     headless_mode = LaunchConfiguration("headless_mode")
@@ -169,15 +170,11 @@ def launch_setup(context, *args, **kwargs):
 
     robot_description = {"robot_description": robot_description_content}
 
-    if use_fake_hardware.perform(context):
-        initial_joint_controller = "joint_trajectory_controller"
-    else:
-        initial_joint_controller = "scaled_joint_trajectory_controller"
-
     initial_joint_controllers = PathJoinSubstitution(
         [FindPackageShare(description_package), "config", controllers_file]
     )
 
+
     rviz_config_file = PathJoinSubstitution(
         [FindPackageShare(description_package), "rviz", "view_robot.rviz"]
     )
@@ -459,7 +456,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "use_fake_hardware",
-            default_value="true",
+            default_value="false",
             description="Start robot with fake hardware mirroring command to its states.",
         )
     )
@@ -485,7 +482,13 @@ def generate_launch_description():
             description="Timeout used when spawning controllers.",
         )
     )
-
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "initial_joint_controller",
+            default_value="scaled_joint_trajectory_controller",
+            description="Initially loaded robot controller.",
+        )
+    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "activate_joint_controller",

src/ur_robotiq_moveit_config/config/moveit_controllers.yaml

@@ -4,6 +4,7 @@ controller_names:
   - joint_trajectory_controller
   - robotiq_gripper_controller
   - robotiq_gripper_joint_trajectory_controller
+  - combined_joint_trajectory_controller
 
 
 scaled_joint_trajectory_controller:
@@ -45,3 +46,16 @@ robotiq_gripper_joint_trajectory_controller:
   joints:
     - finger_joint
 
+combined_joint_trajectory_controller:
+  type: FollowJointTrajectory
+  action_ns: follow_joint_trajectory
+  default: true
+  joints:
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+    - finger_joint
+

src/ur_robotiq_moveit_config/config/ur_servo.yaml

@@ -2,7 +2,7 @@
 # Modify all parameters related to servoing here
 ###############################################
 use_gazebo: false # Whether the robot is started in a Gazebo simulation environment
-
+use_intra_process_comms : true
 ## Properties of incoming commands
 command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
 scale:

src/ur_robotiq_moveit_config/launch/ur_robotiq_moveit.launch.py

@@ -148,10 +148,8 @@ def launch_setup(context, *args, **kwargs):
     # the scaled_joint_trajectory_controller does not work on fake hardware
     use_fake_hw = use_fake_hardware.perform(context)
     controllers_yaml = load_yaml(moveit_config_package, "config/moveit_controllers.yaml")
-    print(controllers_yaml)
 
     if use_fake_hw == "true":
-        print("Using fake hardware")
         controllers_yaml["scaled_joint_trajectory_controller"]["default"] = False
         controllers_yaml["joint_trajectory_controller"]["default"] = True
         controllers_yaml["robotiq_gripper_controller"]["default"] = False

src/ur_robotiq_moveit_config/srdf/old_ur_robotiq_macro.srdf.xacro

@@ -64,6 +64,7 @@
     <passive_joint name="${prefix}right_inner_finger_joint" />
     <!--DISABLE COLLISIONS - By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
     <!--UR-Robot-->
+    <disable_collisions link1="${prefix}base" link2="${prefix}base_link" reason="Adjacent" />
     <disable_collisions link1="${prefix}base_link" link2="${prefix}base_link_inertia" reason="Adjacent" />
     <disable_collisions link1="${prefix}base_link_inertia" link2="${prefix}shoulder_link" reason="Adjacent" />
     <disable_collisions link1="${prefix}tool0" link2="${prefix}wrist_1_link" reason="Never" />
@@ -102,6 +103,19 @@
     <disable_collisions link1="${prefix}left_inner_finger_pad" link2="${prefix}right_inner_finger_pad" reason="Default"/>
 
     <!-- Weird Bug-->
+    <disable_collisions link1="${prefix}base" link2="${prefix}base" reason="Adjacent" />
+    <disable_collisions link1="${prefix}base_link" link2="${prefix}base_link" reason="Adjacent" />
+    <disable_collisions link1="${prefix}base_link_inertia" link2="${prefix}base_link_inertia" reason="Adjacent" />
+    <disable_collisions link1="${prefix}shoulder_link" link2="${prefix}shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="${prefix}upper_arm_link" link2="${prefix}upper_arm_link" reason="Adjacent" />
+    <disable_collisions link1="${prefix}forearm_link" link2="${prefix}forearm_link" reason="Adjacent" />
+    <disable_collisions link1="${prefix}wrist_1_link" link2="${prefix}wrist_1_link" reason="Adjacent" />
+    <disable_collisions link1="${prefix}wrist_2_link" link2="${prefix}wrist_2_link" reason="Adjacent" />
+    <disable_collisions link1="${prefix}wrist_3_link" link2="${prefix}wrist_3_link" reason="Adjacent" />
+    <disable_collisions link1="${prefix}flange" link2="${prefix}flange" reason="Adjacent" />
+    <disable_collisions link1="${prefix}ft_frame" link2="${prefix}ft_frame" reason="Adjacent" />
+    <disable_collisions link1="${prefix}tool0" link2="${prefix}tool0" reason="Adjacent" />
+
     <disable_collisions link1="${prefix}robotiq_base_link" link2="${prefix}robotiq_base_link" reason="Adjacent"/>
     <disable_collisions link1="${prefix}robotiq_140_base_link" link2="robotiq_140_base_link" reason="Adjacent"/>
 

src/ur_robotiq_moveit_config/srdf/ur_manipulator_macro.srdf.xacro

@@ -0,0 +1,172 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
+  <xacro:macro name="ur_robotiq_srdf" params="name prefix">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="${prefix}${name}_manipulator">
+        <chain base_link="${prefix}base_link" tip_link="${prefix}tool0"/>
+    </group>
+    <group name="${prefix}gripper">
+        <joint name="${prefix}robotiq_base_joint"/>
+        <joint name="${prefix}robotiq_140_base_joint"/>
+        <joint name="${prefix}finger_joint"/>
+        <joint name="${prefix}left_outer_finger_joint"/>
+        <joint name="${prefix}left_inner_finger_joint"/>
+        <joint name="${prefix}left_inner_finger_pad_joint"/>
+        <joint name="${prefix}left_inner_knuckle_joint"/>
+        <joint name="${prefix}right_inner_knuckle_joint"/>
+        <joint name="${prefix}right_outer_knuckle_joint"/>
+        <joint name="${prefix}right_outer_finger_joint"/>
+        <joint name="${prefix}right_inner_finger_joint"/>
+        <joint name="${prefix}right_inner_finger_pad_joint"/>
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="${prefix}close" group="${prefix}gripper">
+        <joint name="${prefix}finger_joint" value="0.7"/>
+    </group_state>
+    <group_state name="${prefix}open" group="${prefix}gripper">
+        <joint name="${prefix}finger_joint" value="0"/>
+    </group_state>
+    <group_state name="${prefix}home" group="${prefix}${name}_manipulator">
+      <joint name="${prefix}elbow_joint" value="0" />
+      <joint name="${prefix}shoulder_lift_joint" value="-1.5707" />
+      <joint name="${prefix}shoulder_pan_joint" value="0" />
+      <joint name="${prefix}wrist_1_joint" value="0" />
+      <joint name="${prefix}wrist_2_joint" value="0" />
+      <joint name="${prefix}wrist_3_joint" value="0" />
+    </group_state>
+    <group_state name="${prefix}up" group="${prefix}${name}_manipulator">
+      <joint name="${prefix}elbow_joint" value="0" />
+      <joint name="${prefix}shoulder_lift_joint" value="-1.5707" />
+      <joint name="${prefix}shoulder_pan_joint" value="0" />
+      <joint name="${prefix}wrist_1_joint" value="-1.5707" />
+      <joint name="${prefix}wrist_2_joint" value="0" />
+      <joint name="${prefix}wrist_3_joint" value="0" />
+    </group_state>
+    <group_state name="${prefix}test_configuration" group="${prefix}${name}_manipulator">
+      <joint name="${prefix}elbow_joint" value="1.4" />
+      <joint name="${prefix}shoulder_lift_joint" value="-1.62" />
+      <joint name="${prefix}shoulder_pan_joint" value="1.54" />
+      <joint name="${prefix}wrist_1_joint" value="-1.2" />
+      <joint name="${prefix}wrist_2_joint" value="-1.6" />
+      <joint name="${prefix}wrist_3_joint" value="-0.11" />
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="${prefix}gripper" parent_link="${prefix}tool0" group="${prefix}gripper" parent_group="${prefix}${name}_manipulator"/>
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="world_joint" type="fixed" parent_frame="world" child_link="${prefix}base_link"/>
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="${prefix}right_inner_finger_joint"/>
+    <passive_joint name="${prefix}right_outer_knuckle_joint"/>
+    <passive_joint name="${prefix}right_inner_knuckle_joint"/>
+    <passive_joint name="${prefix}left_inner_knuckle_joint"/>
+    <passive_joint name="${prefix}left_inner_finger_joint"/>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="${prefix}base_link_inertia" link2="${prefix}shoulder_link" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}base_link_inertia" link2="${prefix}upper_arm_link" reason="Never"/>
+    <disable_collisions link1="${prefix}base_link_inertia" link2="${prefix}wrist_1_link" reason="Never"/>
+    <disable_collisions link1="${prefix}base_link_inertia" link2="${prefix}wrist_2_link" reason="Never"/>
+    <disable_collisions link1="${prefix}forearm_link" link2="${prefix}upper_arm_link" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}forearm_link" link2="${prefix}wrist_1_link" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}left_inner_finger_pad" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}left_inner_knuckle" reason="Default"/>
+    <disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}left_outer_finger" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}left_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}right_inner_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}right_inner_finger_pad" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}right_inner_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}right_outer_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}robotiq_140_base_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}wrist_1_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}wrist_2_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}wrist_3_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger_pad" link2="${prefix}left_inner_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger_pad" link2="${prefix}left_outer_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger_pad" link2="${prefix}left_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger_pad" link2="${prefix}right_inner_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger_pad" link2="${prefix}right_inner_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger_pad" link2="${prefix}right_outer_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger_pad" link2="${prefix}right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger_pad" link2="${prefix}robotiq_140_base_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger_pad" link2="${prefix}wrist_1_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger_pad" link2="${prefix}wrist_2_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_finger_pad" link2="${prefix}wrist_3_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_knuckle" link2="${prefix}left_outer_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_knuckle" link2="${prefix}left_outer_knuckle" reason="Default"/>
+    <disable_collisions link1="${prefix}left_inner_knuckle" link2="${prefix}right_inner_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_knuckle" link2="${prefix}right_inner_finger_pad" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_knuckle" link2="${prefix}right_inner_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_knuckle" link2="${prefix}right_outer_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_knuckle" link2="${prefix}right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_knuckle" link2="${prefix}robotiq_140_base_link" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}left_inner_knuckle" link2="${prefix}wrist_1_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_knuckle" link2="${prefix}wrist_2_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_inner_knuckle" link2="${prefix}wrist_3_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_finger" link2="${prefix}left_outer_knuckle" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}left_outer_finger" link2="${prefix}right_inner_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_finger" link2="${prefix}right_inner_finger_pad" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_finger" link2="${prefix}right_inner_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_finger" link2="${prefix}right_outer_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_finger" link2="${prefix}right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_finger" link2="${prefix}robotiq_140_base_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_finger" link2="${prefix}wrist_1_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_finger" link2="${prefix}wrist_2_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_finger" link2="${prefix}wrist_3_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_knuckle" link2="${prefix}right_inner_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_knuckle" link2="${prefix}right_inner_finger_pad" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_knuckle" link2="${prefix}right_inner_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_knuckle" link2="${prefix}right_outer_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_knuckle" link2="${prefix}right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_knuckle" link2="${prefix}robotiq_140_base_link" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}left_outer_knuckle" link2="${prefix}wrist_1_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_knuckle" link2="${prefix}wrist_2_link" reason="Never"/>
+    <disable_collisions link1="${prefix}left_outer_knuckle" link2="${prefix}wrist_3_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_finger" link2="${prefix}right_inner_finger_pad" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}right_inner_finger" link2="${prefix}right_inner_knuckle" reason="Default"/>
+    <disable_collisions link1="${prefix}right_inner_finger" link2="${prefix}right_outer_finger" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}right_inner_finger" link2="${prefix}right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_finger" link2="${prefix}robotiq_140_base_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_finger" link2="${prefix}wrist_1_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_finger" link2="${prefix}wrist_2_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_finger" link2="${prefix}wrist_3_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_finger_pad" link2="${prefix}right_inner_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_finger_pad" link2="${prefix}right_outer_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_finger_pad" link2="${prefix}right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_finger_pad" link2="${prefix}robotiq_140_base_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_finger_pad" link2="${prefix}wrist_1_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_finger_pad" link2="${prefix}wrist_2_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_finger_pad" link2="${prefix}wrist_3_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_knuckle" link2="${prefix}right_outer_finger" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_knuckle" link2="${prefix}right_outer_knuckle" reason="Default"/>
+    <disable_collisions link1="${prefix}right_inner_knuckle" link2="${prefix}robotiq_140_base_link" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}right_inner_knuckle" link2="${prefix}wrist_1_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_knuckle" link2="${prefix}wrist_2_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_inner_knuckle" link2="${prefix}wrist_3_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_outer_finger" link2="${prefix}right_outer_knuckle" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}right_outer_finger" link2="${prefix}robotiq_140_base_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_outer_finger" link2="${prefix}wrist_1_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_outer_finger" link2="${prefix}wrist_2_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_outer_finger" link2="${prefix}wrist_3_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_outer_knuckle" link2="${prefix}robotiq_140_base_link" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}right_outer_knuckle" link2="${prefix}wrist_1_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_outer_knuckle" link2="${prefix}wrist_2_link" reason="Never"/>
+    <disable_collisions link1="${prefix}right_outer_knuckle" link2="${prefix}wrist_3_link" reason="Never"/>
+    <disable_collisions link1="${prefix}robotiq_140_base_link" link2="${prefix}wrist_1_link" reason="Never"/>
+    <disable_collisions link1="${prefix}robotiq_140_base_link" link2="${prefix}wrist_2_link" reason="Never"/>
+    <disable_collisions link1="${prefix}robotiq_140_base_link" link2="${prefix}wrist_3_link" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}shoulder_link" link2="${prefix}upper_arm_link" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}shoulder_link" link2="${prefix}wrist_1_link" reason="Never"/>
+    <disable_collisions link1="${prefix}shoulder_link" link2="${prefix}wrist_2_link" reason="Never"/>
+    <disable_collisions link1="${prefix}wrist_1_link" link2="${prefix}wrist_2_link" reason="Adjacent"/>
+    <disable_collisions link1="${prefix}wrist_1_link" link2="${prefix}wrist_3_link" reason="Never"/>
+    <disable_collisions link1="${prefix}wrist_2_link" link2="${prefix}wrist_3_link" reason="Adjacent"/>
+  </xacro:macro>
+</robot>

src/ur_robotiq_servo/config/joy-params.yaml

@@ -0,0 +1,8 @@
+joy_node:
+    ros__parameters:
+        device_id: 0
+        device_name: "PS5 Controller"
+        deadzone: 0.5
+        autorepeat_rate: 20.0
+        sticky_buttons: false
+        coalesce_interval_ms: 1

src/ur_robotiq_servo/launch/ps5_servo.launch.py

@@ -0,0 +1,31 @@
+import os
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import ament_index_python.packages
+
+def generate_launch_description():
+    config_directory = os.path.join(
+        ament_index_python.packages.get_package_share_directory('ur_robotiq_servo'),
+        'config')
+    params = os.path.join(config_directory, 'joy-params.yaml')
+    return LaunchDescription([
+        Node(
+            package='joy',
+            executable='joy_node',
+            name='joy_node',
+            output='screen',
+            parameters=[{
+                params,
+            }],
+        ),
+        Node(
+            package='ur_robotiq_servo',
+            executable='ps5_servo',
+            name='ps5_servo_node',
+            output='screen',
+            parameters=[{
+            }],
+            arguments=[],
+        ),
+    ])

src/ur_robotiq_servo/package.xml

@@ -11,6 +11,7 @@
   <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
   <depend>joy</depend>
   <depend>moveit_servo</depend>
 

src/ur_robotiq_servo/setup.py

@@ -1,4 +1,6 @@
 from setuptools import find_packages, setup
+import os
+from glob import glob
 
 package_name = 'ur_robotiq_servo'
 
@@ -10,6 +12,8 @@ setup(
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
+        (os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -20,6 +24,7 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
+            'ps5_servo = ur_robotiq_servo.ps5_control:main'
         ],
     },
 )

src/ur_robotiq_servo/ur_robotiq_servo/ps5_control.py

@@ -0,0 +1,99 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Joy
+from geometry_msgs.msg import TwistStamped
+from control_msgs.msg import JointJog
+from std_srvs.srv import Trigger
+
+
+class PS5ControllerNode(Node):
+    def __init__(self):
+        super().__init__('ps5_controller_node')
+        # States
+        self.mode = 'twist'  # Initialize mode to 'twist'. Alternatives: 'twist', 'joint'
+        self.last_button_state = 0  # Track the last state of the toggle button to detect presses
+
+        # Subscriber and Publisher
+        self.joy_sub = self.create_subscription(
+            Joy,
+            '/joy',
+            self.joy_callback,
+            1)
+        self.twist_pub = self.create_publisher(
+            TwistStamped,
+            '/servo_node/delta_twist_cmds',
+            1)
+        self.joint_pub = self.create_publisher(
+            JointJog,
+            '/servo_node/delta_joint_cmds',
+            1)
+
+        # Services
+        self.servo_client = self.create_client(Trigger, '/servo_node/start_servo')
+
+        srv_msg = Trigger.Request()
+        while not self.servo_client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('/servo_node/start_servo service not available, waiting again...')
+
+        self.call_start_servo()
+
+        self.get_logger().info('ps5_servo_node started!')
+
+    def call_start_servo(self):
+        request = Trigger.Request()
+        future = self.servo_client.call_async(request)
+        rclpy.spin_until_future_complete(self, future)
+        response = future.result()
+        if response.success:
+            self.get_logger().info(f'Successfully called start_servo: {response.message}')
+        else:
+            self.get_logger().info('Failed to call start_servo')
+
+    def joy_callback(self, msg):
+        # Check for button press to toggle mode
+        # Assuming button 2 (e.g., Triangle on PS5) for toggling mode
+        current_button_state = msg.buttons[16]
+        if current_button_state == 1 and self.last_button_state == 0:
+            self.mode = 'joint' if self.mode == 'twist' else 'twist'
+            self.get_logger().info(f'Mode switched to: {self.mode}')
+        self.last_button_state = current_button_state
+
+        left_trigger = (msg.axes[2] - 1) / - 2.0
+        right_trigger = (msg.axes[5] - 1) / - 2.0
+
+        # Process control input based on current mode
+        if self.mode == 'twist':
+            twist_msg = TwistStamped()
+            twist_msg.header.frame_id = 'tool0'
+            twist_msg.header.stamp = self.get_clock().now().to_msg()
+            twist_msg.twist.linear.x = msg.axes[0]
+            twist_msg.twist.linear.y = msg.axes[1]
+            twist_msg.twist.linear.z = left_trigger - right_trigger
+            self.twist_pub.publish(twist_msg)
+        elif self.mode == 'joint':
+            joint_msg = JointJog()
+            joint_msg.header.frame_id = 'tool0'
+            joint_msg.header.stamp = self.get_clock().now().to_msg()
+            joint_msg.joint_names = ["shoulder_pan_joint",
+                                     "shoulder_lift_joint",
+                                     "elbow_joint",
+                                     "wrist_1_joint",
+                                     "wrist_2_joint",
+                                     "wrist_3_joint"]
+            joint_msg.velocities = [msg.axes[0],
+                                    msg.axes[1],
+                                    msg.axes[2],
+                                    msg.axes[3],
+                                    (msg.buttons[11] - msg.buttons[12]) * 1.0,
+                                    (msg.buttons[13] - msg.buttons[14]) * 1.0]
+            self.joint_pub.publish(joint_msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = PS5ControllerNode()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()