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Add spawn flag for fullbody controller #128

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Add spawn flag for fullbody controller #128

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3 changes: 3 additions & 0 deletions ros/kxr_controller/launch/kxr_controller.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
<arg name="temperature_limit" default="80" doc="Temperature limit in celsius" />
<arg name="read_current" default="false" />
<arg name="read_temperature" default="false" />
<arg name="spawn_fullbody_controller" default="true" doc="Internally spawn fullbody_controller" />

<group if="$(eval len(arg('namespace')) > 0)" ns="$(arg namespace)" >
<param name="control_loop_rate" value="$(arg control_loop_rate)" />
Expand Down Expand Up @@ -52,6 +53,7 @@
temperature_limit: $(arg temperature_limit)
read_current: $(arg read_current)
read_temperature: $(arg read_temperature)
spawn_fullbody_controller: $(arg spawn_fullbody_controller)
</rosparam>
</node>
<node name="urdf_model_server"
Expand Down Expand Up @@ -92,6 +94,7 @@
temperature_limit: $(arg temperature_limit)
read_current: $(arg read_current)
read_temperature: $(arg read_temperature)
spawn_fullbody_controller: $(arg spawn_fullbody_controller)
</rosparam>
</node>

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2 changes: 2 additions & 0 deletions ros/kxr_controller/launch/kxr_controller_for_wheel.launch
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Expand Up @@ -15,6 +15,7 @@
<arg name="temperature_limit" default="80" doc="Temperature limit in celsius" />
<arg name="read_current" default="false" />
<arg name="read_temperature" default="false" />
<arg name="spawn_fullbody_controller" default="true" doc="Internally spawn fullbody_controller" />

<include file="$(find kxr_controller)/launch/kxr_controller.launch" >
<arg name="urdf_path" value="$(arg urdf_path)" />
Expand All @@ -32,6 +33,7 @@
<arg name="temperature_limit" value="$(arg temperature_limit)" />
<arg name="read_current" value="$(arg read_current)" />
<arg name="read_temperature" value="$(arg read_temperature)" />
<arg name="spawn_fullbody_controller" value="$(arg spawn_fullbody_controller)" />
</include>

<group if="$(eval len(arg('namespace')) > 0)" ns="$(arg namespace)" >
Expand Down
19 changes: 11 additions & 8 deletions ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -177,6 +177,8 @@ def setup_paths_and_params(self):
self.joint_name_to_id, self.servo_infos = load_yaml(servo_config_path)
self.urdf_path = rospy.get_param("~urdf_path", None)
self.use_rcb4 = rospy.get_param("~use_rcb4", False)
self.spawn_fullbody_controller = rospy.get_param(
"~spawn_fullbody_controller", True)
self.control_pressure = rospy.get_param("~control_pressure", False)
self.read_temperature = rospy.get_param("~read_temperature", False) and not self.use_rcb4
self.read_current = rospy.get_param("~read_current", False) and not self.use_rcb4
Expand Down Expand Up @@ -419,14 +421,15 @@ def log_error_and_close_interface(function_name):
return True

def run_ros_robot_controllers(self):
self.proc_controller_spawner = subprocess.Popen(
[
f'/opt/ros/{os.environ["ROS_DISTRO"]}/bin/rosrun',
"controller_manager",
"spawner",
]
+ ["joint_state_controller", "fullbody_controller"]
)
if self.spawn_fullbody_controller:
self.proc_controller_spawner = subprocess.Popen(
[
f'/opt/ros/{os.environ["ROS_DISTRO"]}/bin/rosrun',
"controller_manager",
"spawner",
]
+ ["joint_state_controller", "fullbody_controller"]
)
self.proc_robot_state_publisher = run_robot_state_publisher(self.base_namespace)
self.proc_kxr_controller = run_kxr_controller(namespace=self.base_namespace)

Expand Down
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