chore: Update launch and config files with motion control handle and …

…robot description
idra-lab · Jun 12, 2024 · d17311c · d17311c
1 parent 684f95d
commit d17311c
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Showing 5 changed files with 16 additions and 10 deletions.
diff --git a/lbr_bringup/launch/real.launch.py b/lbr_bringup/launch/real.launch.py
@@ -28,7 +28,9 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
     ld.add_action(robot_state_publisher)
 
     # ros2 control node
-    ros2_control_node = LBRROS2ControlMixin.node_ros2_control()
+    ros2_control_node = LBRROS2ControlMixin.node_ros2_control(
+        robot_description=robot_description,
+    )
     ld.add_action(ros2_control_node)
 
     # joint state broad caster and controller on ros2 control node start
@@ -41,9 +43,9 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
     lbr_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
         controller="lbr_state_broadcaster"
     )
-    lbr_motion_control_handle = LBRROS2ControlMixin.node_controller_spawner(
-        controller="motion_control_handle"
-    )
+    # lbr_motion_control_handle = LBRROS2ControlMixin.node_controller_spawner(
+    #     controller="motion_control_handle"
+    # )
     controller = LBRROS2ControlMixin.node_controller_spawner(
         controller=LaunchConfiguration("ctrl")
     )
@@ -56,7 +58,7 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
                 force_torque_broadcaster,
                 lbr_state_broadcaster,
                 controller,
-                lbr_motion_control_handle,
+                # lbr_motion_control_handle,
             ],
         )
     )

diff --git a/lbr_bringup/launch/system_interface.launch.py b/lbr_bringup/launch/system_interface.launch.py
@@ -24,7 +24,9 @@ def generate_launch_description() -> LaunchDescription:
         use_sim_time=False,
     )
     ld.add_action(robot_state_publisher)
-    ros2_control_node = LBRSystemInterface.node_ros2_control()
+    ros2_control_node = LBRSystemInterface.node_ros2_control(
+        robot_description=robot_description,
+    )
     ld.add_action(ros2_control_node)
     joint_state_broadcaster = LBRSystemInterface.node_controller_spawner(
         controller="joint_state_broadcaster"

diff --git a/lbr_bringup/launch_mixins/lbr_ros2_control.py b/lbr_bringup/launch_mixins/lbr_ros2_control.py
@@ -50,6 +50,7 @@ def arg_use_sim_time() -> DeclareLaunchArgument:
 
     @staticmethod
     def node_ros2_control(
+        robot_description: Dict[str, str],
         robot_name: Optional[Union[LaunchConfiguration, str]] = LaunchConfiguration(
             "robot_name", default="lbr"
         ),
@@ -59,6 +60,7 @@ def node_ros2_control(
             package="controller_manager",
             executable="ros2_control_node",
             parameters=[
+                robot_description,
                 {"use_sim_time": False},
                 PathJoinSubstitution(
                     [

diff --git a/lbr_ros2_control/config/lbr_controllers.yaml b/lbr_ros2_control/config/lbr_controllers.yaml
@@ -2,7 +2,7 @@
 # managers regardless of their namespace. Usefull in multi-robot setups.
 /**/controller_manager:
   ros__parameters:
-    update_rate: 100
+    update_rate: 500
 
     # ROS 2 control broadcasters
     joint_state_broadcaster:

diff --git a/lbr_ros2_control/config/lbr_system_parameters.yaml b/lbr_ros2_control/config/lbr_system_parameters.yaml
@@ -2,8 +2,8 @@
 hardware:
   fri_client_sdk: # the fri_client_sdk version is used to create the correct state interfaces lbr_system_interface.xacro
     major_version: 1
-    minor_version: 15
-  client_command_mode: position # the command mode specifies the user-sent commands. Available: [position, torque, wrench]
+    minor_version: 17
+  client_command_mode: torque # the command mode specifies the user-sent commands. Available: [position, torque, wrench]
   port_id: 30200 # port id for the UDP communication. Useful in multi-robot setups
   remote_host: INADDR_ANY # the expected robot IP address. INADDR_ANY will accept any incoming connection
   rt_prio: 80 # real-time priority for the control loop
@@ -16,7 +16,7 @@ hardware:
   command_guard_variant: default # if requested position / velocities beyond limits, CommandGuard will be triggered and shut the connection. Available: [default, safe_stop]
   external_torque_cutoff_frequency: 10 # low-pass filter for the external joint torque measurements [Hz]
   measured_torque_cutoff_frequency: 10 # low-pass filter for the joint torque measurements [Hz]
-  open_loop: true # KUKA works the best in open_loop control mode
+  open_loop: false # KUKA works the best in open_loop control mode
 
 estimated_ft_sensor: # estimates the external force-torque from the external joint torque values
   chain_root: link_0