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Fast Forward Feature: Add UR socat tool communication script #179

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Merged
merged 1 commit into from
Apr 8, 2025
Merged

Fast Forward Feature: Add UR socat tool communication script #179

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20 changes: 20 additions & 0 deletions clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@
import os

from clearpath_config.common.types.platform import Platform
from clearpath_config.manipulators.types.arms import UniversalRobots
from clearpath_config.platform.battery import BatteryConfig
from clearpath_generator_common.common import LaunchFile, Package, ParamFile
from clearpath_generator_common.launch.generator import LaunchGenerator
Expand Down Expand Up @@ -453,6 +454,25 @@ def generate_platform(self) -> None:

def generate_manipulators(self) -> None:
manipulator_service_launch_writer = LaunchWriter(self.manipulators_service_launch_file)
# Universal Robots Tool Communication
for arm in self.clearpath_config.manipulators.get_all_arms():
if arm.MANIPULATOR_MODEL == UniversalRobots.MANIPULATOR_MODEL:
node = LaunchFile.Node(
name=f'{arm.name}_ur_tool_comm',
package='ur_robot_driver',
executable='tool_communication.py',
namespace=self.namespace,
parameters=[{
'robot_ip': arm.ip,
'tcp_port': 54321,
'device_name': f'/tmp/{arm.name}_gripper'
}],
)
manipulator_service_launch_writer.add_node(node)
# Delay controllers
self.manipulators_launch_file.args.append(
('control_delay', '1.0')
)
if self.clearpath_config.manipulators.get_all_manipulators():
manipulator_service_launch_writer.add(self.manipulators_launch_file)
manipulator_service_launch_writer.generate_file()
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