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Ros2 control support package added #12

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Ros2 control support package added #12

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2749aab
created new package 'kuka_ros2_control_support'
Feb 27, 2023
6f903b8
single ros2_control launch file for all of the kuka robots except 'k…
Feb 27, 2023
2b6cc2d
moved common_macro.ros2_control.xacro to kuka_ros2_control_support
Feb 27, 2023
68d98c4
making base kuka files independent of ros2_control
Feb 27, 2023
96f9e52
making base kuka files independent of ros2_control-2
Feb 27, 2023
dcca250
common xacro and ros2_controlxacro
Feb 28, 2023
814e1e2
functional ros2_control support for kuka base models
Feb 28, 2023
aaa2b63
correction
Feb 28, 2023
84fd1c7
removed unused xacro
Mar 2, 2023
18455fa
removed dependency not needed in ros2
Mar 3, 2023
2bbd567
removed arguments not necessary
Mar 2, 2023
8b2bcaa
[URDF] Adding inertial and using `find` for getting package paths for…
Robotgir Mar 3, 2023
72a109e
ran pre-commit for all ecept *_rsi_* pkgs
Mar 4, 2023
63cd2f5
Update kuka_ros2_control_support/urdf/common_kuka.xacro
Robotgir Mar 4, 2023
b35a8e2
Update kuka_ros2_control_support/urdf/common_macro.ros2_control.xacro
Robotgir Mar 4, 2023
a448b1b
Apply suggestions from code review
Robotgir Mar 4, 2023
1baa52d
included kuka_lbr in the comman launch and xacro files
Mar 4, 2023
ae644a9
ran-precommit
Mar 4, 2023
699f5de
kuka_ros2_control_support, complete macro including gazebo plugins
Mar 6, 2023
efe1a0a
Merge branch 'rolling' into ros2_control_support_package_added
Robotgir Mar 11, 2023
8d4bad6
removed unused xacro and added one useful
Mar 2, 2023
06f0e0f
corrections
Mar 11, 2023
7e22296
updated readme on how to use
Mar 17, 2023
7ef5835
Update README.md
Robotgir Mar 17, 2023
363e273
Apply suggestions from code review
destogl Mar 27, 2023
669018b
added test for kuka_ros2_control_support
muritane Mar 28, 2023
294580d
pre-commit changes for ros2_control_support_test
muritane Mar 28, 2023
3740da9
added initial_positions_file arg
Apr 4, 2023
8d71b5b
add control node and ip address/port options
mamueluth Apr 4, 2023
df54ab6
Merge branch 'rolling' into ros2_control_support_package_added
destogl Apr 4, 2023
e67614c
add joint trajecotry controller goals publisher
mamueluth Apr 7, 2023
97a8802
Update first part of the readme file.
destogl May 8, 2023
2a6059c
Removing, cleaning, renaming and moving configuration files.
destogl May 8, 2023
4304d5e
Revert some file and optimize CMakeLists.txt
destogl May 9, 2023
10fb2d8
Some cleanups.
destogl May 9, 2023
7d6bf22
Cleaning.
destogl May 9, 2023
a7fa385
ros2 control support test works
muritane May 19, 2023
0ff20d8
added joint trajectory test
muritane May 20, 2023
174d386
Update kuka_ros2_control_support/test/ros2_control_support.py
muritane May 26, 2023
f88076e
Update initial_positions_all_zeros.yaml
muritane May 26, 2023
ea2b5f7
add tests for joint and traj state retrieval, init_pos arg, start_rvi…
muritane May 26, 2023
0e7f143
[test_bringup.launch.py] set use_mock_hardware default to true
muritane May 30, 2023
9d6b587
Added a tcp transform test to validate RSP and TFs
gwalck May 30, 2023
d53d9cd
Moved tf_listener to func to avoid thread issues
gwalck May 30, 2023
4d370a1
Added missing line to cleanly initialize executor
gwalck Jun 1, 2023
a50234a
Working with Mock Hardware.
destogl May 9, 2023
33961eb
Cleanup more files.
destogl Jun 1, 2023
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2 changes: 2 additions & 0 deletions kuka_ros2_control_support/urdf/common_kuka.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
<xacro:arg name="robot_description_package" default="kuka_kr3_support"/>
<xacro:arg name="robot_description_macro_file" default="kr3r540_macro.xacro"/>
<xacro:arg name="robot_name" default="kuka_kr3r540"/>
<xacro:arg name="initial_positions_file" default="$(find kuka_resources)/config/initial_positions.yaml"/>

<xacro:property name="robot_description_package" value="$(arg robot_description_package)"/>
<xacro:property name="robot_description_macro_file" value="$(arg robot_description_macro_file)"/>
Expand All @@ -31,6 +32,7 @@
<xacro:kuka_common_ros2_control_macro
name="$(arg robot_name)"
prefix="$(arg prefix)"
initial_positions_file="$(arg initial_positions_file)"
use_mock_hardware="$(arg use_mock_hardware)"
sim_gazebo_classic="$(arg sim_gazebo_classic)"
sim_gazebo="$(arg sim_gazebo)"
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3 changes: 2 additions & 1 deletion kuka_ros2_control_support/urdf/common_macro.ros2_control.xacro
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Expand Up @@ -4,13 +4,14 @@
<xacro:macro name="kuka_common_ros2_control_macro" params="
name
prefix
initial_positions_file
use_mock_hardware:=^|false
sim_gazebo_classic:=^|false
sim_gazebo:=^|false
simulation_controllers
robot_description_package"
>

<xacro:property name="initial_positions" value="${load_yaml(initial_positions_file)['initial_positions']}"/>
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we should also utilize this agument lower under initial_value tag

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

<hardware>
Expand Down