Niko/UR_Robotiq
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initial_joint_controller is now set depending on use_fake_hardware flag and not a seperate flag

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This commit is contained in:
Niko Feith 2024-04-03 11:06:56 +02:00
parent 79aa262153
commit 2fa4387147
2 changed files with 7 additions and 9 deletions
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2
README.md
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@ -64,7 +64,7 @@ ros2 launch ur_robotiq_moveit_config ur_robotiq_moveit.launch.py use_fake_hardwa
### use_fake_hardware:=true ### use_fake_hardware:=true
Terminal 1.: Terminal 1.:
```bash ```bash
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 ros2 launch ur_robotiq_description ur_robotiq_control.launch.py robot_ip:=aaa.bbb.ccc.ddd use_fake_hardware:=true launch_rviz:=false
``` ```
Terminal 2.: Terminal 2.:
```bash ```bash

14
src/ur_robotiq_description/launch/ur_robotiq_control.launch.py
View File

@ -25,7 +25,6 @@ def launch_setup(context, *args, **kwargs):
use_fake_hardware = LaunchConfiguration("use_fake_hardware") use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
controller_spawner_timeout = LaunchConfiguration("controller_spawner_timeout") controller_spawner_timeout = LaunchConfiguration("controller_spawner_timeout")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
activate_joint_controller = LaunchConfiguration("activate_joint_controller") activate_joint_controller = LaunchConfiguration("activate_joint_controller")
launch_rviz = LaunchConfiguration("launch_rviz") launch_rviz = LaunchConfiguration("launch_rviz")
headless_mode = LaunchConfiguration("headless_mode") headless_mode = LaunchConfiguration("headless_mode")
@ -170,6 +169,11 @@ def launch_setup(context, *args, **kwargs):
robot_description = {"robot_description": robot_description_content} 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( initial_joint_controllers = PathJoinSubstitution(
[FindPackageShare(description_package), "config", controllers_file] [FindPackageShare(description_package), "config", controllers_file]
) )
@ -481,13 +485,7 @@ def generate_launch_description():
description="Timeout used when spawning controllers.", 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( declared_arguments.append(
DeclareLaunchArgument( DeclareLaunchArgument(
"activate_joint_controller", "activate_joint_controller",