missing remappings of gravity and impedance control topics

idra-lab · Dec 4, 2024 · f34f51e · f34f51e
1 parent afa1f4f
commit f34f51e
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Showing 2 changed files with 6 additions and 7 deletions.
diff --git a/lbr_bringup/lbr_bringup/ros2_control.py b/lbr_bringup/lbr_bringup/ros2_control.py
@@ -37,11 +37,11 @@ def arg_ctrl() -> DeclareLaunchArgument:
                 "lbr_torque_command_controller",
                 "lbr_wrench_command_controller",
                 "twist_controller",
-                "cartesian_impedance_controller",
-                "gravity_compensation"
+                "gravity_compensation",
+                "cartesian_impedance_controller"
             ],
         )
-    
+
     @staticmethod
     def arg_sys_cfg_pkg() -> DeclareLaunchArgument:
         return DeclareLaunchArgument(
@@ -68,7 +68,6 @@ 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"
         ),
@@ -84,8 +83,7 @@ def node_ros2_control(
             package="controller_manager",
             executable="ros2_control_node",
             parameters=[
-                robot_description,
-                {"use_sim_time": False},
+                {"use_sim_time": use_sim_time},
                 PathJoinSubstitution(
                     [
                         FindPackageShare(
@@ -104,7 +102,7 @@ def node_ros2_control(
             remappings=[
                 ("~/robot_description", "robot_description"),
                 ("cartesian_impedance_controller/target_frame", "target_frame"),
-                ("cartesian_impedance_controller/target_wrench", "target_wrench"),
+                ("cartesian_impedance_controller/target_wrench", "target_wrench")
             ],
             **kwargs,
         )

diff --git a/lbr_description/ros2_control/lbr_controllers.yaml b/lbr_description/ros2_control/lbr_controllers.yaml
@@ -145,4 +145,5 @@
       - lbr_A5
       - lbr_A6
       - lbr_A7
+    # flag used to enable position command together with effort command
     kuka: true
-Original file line number
+Diff line change
@@ Expand Up / @@ -145,4 +145,5 @@ @@
           - lbr_A5
           - lbr_A6
           - lbr_A7
+        # flag used to enable position command together with effort command
         kuka: true