diff --git a/lbr_bringup/doc/lbr_bringup.rst b/lbr_bringup/doc/lbr_bringup.rst index 5ff6a1c3..f09f17a4 100644 --- a/lbr_bringup/doc/lbr_bringup.rst +++ b/lbr_bringup/doc/lbr_bringup.rst @@ -34,7 +34,7 @@ The launch files can also be run via the command line, as further described belo Launch Files ------------ -Launch a Mock Setup +Mock Setup ~~~~~~~~~~ Useful for running a physics-free simulation of the system. This launch file will (see `mock.launch.py `_:octicon:`link-external`): @@ -50,8 +50,8 @@ Useful for running a physics-free simulation of the system. This launch file wil .. note:: List all arguments for the launch file via ``ros2 launch lbr_bringup mock.launch.py -s``. -Launch the Gazebo Simulation -~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Gazebo Simulation +~~~~~~~~~~~~~~~~~ Useful for running a physics simulation the the system. This launch file will will (see `gazebo.launch.py `_:octicon:`link-external`): #. Start the ``robot_state_publisher`` @@ -67,8 +67,8 @@ Useful for running a physics simulation the the system. This launch file will wi .. note:: List all arguments for the launch file via ``ros2 launch lbr_bringup gazebo.launch.py -s``. -Launch Hardware -~~~~~~~~~~~~~~~ +Hardware +~~~~~~~~ .. warning:: Do always execute in ``T1`` mode first. @@ -104,8 +104,8 @@ Launch Hardware .. note:: List all arguments for the launch file via ``ros2 launch lbr_bringup hardware.launch.py -s``. -Launch RViz -~~~~~~~~~~~ +RViz +~~~~ This launch file will spin up ``RViz`` for visualization. It will (see `rviz.launch.py `_:octicon:`link-external`): #. Read ``RViz`` configurations. @@ -121,10 +121,10 @@ This launch file will spin up ``RViz`` for visualization. It will (see `rviz.lau List all arguments for the launch file via ``ros2 launch lbr_bringup rviz.launch.py -s``. .. note:: - Requires the user to run :ref:`Launch a Mock Setup`, :ref:`Launch the Gazebo Simulation` or :ref:`Launch Hardware` first. + Requires the user to run `Mock Setup`_, `Gazebo Simulation`_ or `Launch Hardware`_ first. -Launch MoveIt -~~~~~~~~~~~~~ +MoveIt +~~~~~~ Please note that MoveIt configurations are specific and you as a user will need to create your own for your system (potentially containing multiple robots or an end-effector). .. code:: bash @@ -135,7 +135,7 @@ Please note that MoveIt configurations are specific and you as a user will need rviz:=true .. note:: - Requires the user to run :ref:`Launch a Mock Setup`, :ref:`Launch the Gazebo Simulation` or :ref:`Launch Hardware` first. + Requires the user to run `Mock Setup`_, `Gazebo Simulation`_ or `Launch Hardware`_ first. .. note:: Runs ``RViz`` with specific MoveIt configurations. diff --git a/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst b/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst index e253e146..2cd26566 100644 --- a/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst +++ b/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst @@ -34,8 +34,7 @@ This demo implements a simple admittance controller. .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ - sim:=false \ + ros2 launch lbr_bringup hardware.launch.py \ ctrl:=lbr_joint_position_command_controller \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] @@ -76,8 +75,7 @@ kinematics to move the robot's end-effector along the z-axis in Cartesian space. .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ - sim:=false \ + ros2 launch lbr_bringup hardware.launch.py \ ctrl:=lbr_joint_position_command_controller \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] diff --git a/lbr_demos/lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst b/lbr_demos/lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst index 2a70948d..fb37b371 100644 --- a/lbr_demos/lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst +++ b/lbr_demos/lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst @@ -34,8 +34,7 @@ This demo implements a simple admittance controller. .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ - sim:=false \ + ros2 launch lbr_bringup hardware.launch.py \ ctrl:=lbr_joint_position_command_controller \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] @@ -75,8 +74,7 @@ This demo implements an admittance controller with a remote center of motion (RC .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ - sim:=false \ + ros2 launch lbr_bringup hardware.launch.py \ ctrl:=lbr_joint_position_command_controller \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] diff --git a/lbr_demos/lbr_demos_cpp/doc/lbr_demos_cpp.rst b/lbr_demos/lbr_demos_cpp/doc/lbr_demos_cpp.rst index 1fda2817..dafaa698 100644 --- a/lbr_demos/lbr_demos_cpp/doc/lbr_demos_cpp.rst +++ b/lbr_demos/lbr_demos_cpp/doc/lbr_demos_cpp.rst @@ -34,9 +34,8 @@ This demo uses the :ref:`lbr_fri_ros2::LBRJointPositionCommandController` and ov .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ + ros2 launch lbr_bringup hardware.launch.py \ ctrl:=lbr_joint_position_command_controller \ - sim:=false \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] #. Run the `joint_sine_overlay `_:octicon:`link-external` node: @@ -57,8 +56,7 @@ Simulation .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ - sim:=true \ + ros2 launch lbr_bringup gazebo.launch.py \ ctrl:=joint_trajectory_controller \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] @@ -90,7 +88,7 @@ Hardware - ``FRI control mode``: ``POSITION_CONTROL`` or ``JOINT_IMPEDANCE_CONTROL`` - ``FRI client command mode``: ``POSITION`` -#. Proceed with steps 1 and 2 from `Simulation`_ but with ``sim:=false``. +#. Proceed with steps 1 and 2 from `Simulation`_ but with ``ros2 launch lbr_bringup hardware.launch.py``. LBR Torque Command Controller (Hardware only) --------------------------------------------- @@ -118,9 +116,8 @@ This demo uses the :ref:`lbr_fri_ros2::LBRTorqueCommandController` and overlays .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ + ros2 launch lbr_bringup hardware.launch.py \ ctrl:=lbr_torque_command_controller \ - sim:=false \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] #. Run the `torque_sine_overlay `_:octicon:`link-external` node: @@ -157,9 +154,8 @@ This demo uses the :ref:`lbr_fri_ros2::LBRWrenchCommandController` and overlays .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ + ros2 launch lbr_bringup hardware.launch.py \ ctrl:=lbr_wrench_command_controller \ - sim:=false \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] #. Run the `wrench_sine_overlay `_:octicon:`link-external` node: diff --git a/lbr_demos/lbr_demos_py/doc/lbr_demos_py.rst b/lbr_demos/lbr_demos_py/doc/lbr_demos_py.rst index 41e39938..c15ed340 100644 --- a/lbr_demos/lbr_demos_py/doc/lbr_demos_py.rst +++ b/lbr_demos/lbr_demos_py/doc/lbr_demos_py.rst @@ -34,9 +34,8 @@ This demo uses the :ref:`lbr_fri_ros2::LBRJointPositionCommandController` and ov .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ + ros2 launch lbr_bringup hardware.launch.py \ ctrl:=lbr_joint_position_command_controller \ - sim:=false \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] #. Run the `joint_sine_overlay `_:octicon:`link-external` node: @@ -57,8 +56,7 @@ Simulation .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ - sim:=true \ + ros2 launch lbr_bringup gazebo.launch.py \ ctrl:=joint_trajectory_controller \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] @@ -90,7 +88,7 @@ Hardware - ``FRI control mode``: ``POSITION_CONTROL`` or ``JOINT_IMPEDANCE_CONTROL`` - ``FRI client command mode``: ``POSITION`` -#. Proceed with steps 1 and 2 from `Simulation`_ but with ``sim:=false``. +#. Proceed with steps 1 and 2 from `Simulation`_ but with ``ros2 launch lbr_bringup hardware.launch.py``. LBR Torque Command Controller (Hardware only) --------------------------------------------- @@ -118,9 +116,8 @@ This demo uses the :ref:`lbr_fri_ros2::LBRTorqueCommandController` and overlays .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ + ros2 launch lbr_bringup hardware.launch.py \ ctrl:=lbr_torque_command_controller \ - sim:=false \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] #. Run the `torque_sine_overlay `_:octicon:`link-external` node: @@ -157,9 +154,8 @@ This demo uses the :ref:`lbr_fri_ros2::LBRWrenchCommandController` and overlays .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ + ros2 launch lbr_bringup hardware.launch.py \ ctrl:=lbr_wrench_command_controller \ - sim:=false \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] #. Run the `wrench_sine_overlay `_:octicon:`link-external` node: diff --git a/lbr_demos/lbr_moveit_cpp/doc/lbr_moveit_cpp.rst b/lbr_demos/lbr_moveit_cpp/doc/lbr_moveit_cpp.rst index ad38c5c6..d7b52b15 100644 --- a/lbr_demos/lbr_moveit_cpp/doc/lbr_moveit_cpp.rst +++ b/lbr_demos/lbr_moveit_cpp/doc/lbr_moveit_cpp.rst @@ -17,9 +17,16 @@ Simulation .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ + ros2 launch lbr_bringup mock.launch.py \ moveit:=true \ - sim:=true \ + model:=iiwa7 # [iiwa7, iiwa14, med7, med14] + +#. Run MoveIt: + + .. code-block:: bash + + ros2 launch lbr_moveit_cpp move_group.launch.py \ + mode:=mock \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] #. Run the `hello_moveit `_:octicon:`link-external` node: @@ -27,7 +34,7 @@ Simulation .. code-block:: bash ros2 launch lbr_moveit_cpp hello_moveit.launch.py \ - sim:=true \ + mode:=mock \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] Hardware @@ -50,7 +57,7 @@ Hardware - ``FRI control mode``: ``POSITION_CONTROL`` or ``JOINT_IMPEDANCE_CONTROL`` - ``FRI client command mode``: ``POSITION`` -#. Proceed with steps 1 and 2 from `Simulation`_ but with ``sim:=false``. +#. Proceed with steps 1, 2 and 3 from `Simulation`_ but with ``ros2 launch lbr_bringup hardware.launch.py``. Examining the Code ~~~~~~~~~~~~~~~~~~ diff --git a/lbr_demos/lbr_moveit_cpp/launch/hello_moveit.launch.py b/lbr_demos/lbr_moveit_cpp/launch/hello_moveit.launch.py index 8debb47d..fa080dfe 100644 --- a/lbr_demos/lbr_moveit_cpp/launch/hello_moveit.launch.py +++ b/lbr_demos/lbr_moveit_cpp/launch/hello_moveit.launch.py @@ -42,7 +42,6 @@ def generate_launch_description() -> LaunchDescription: ld = LaunchDescription() ld.add_action(LBRDescriptionMixin.arg_model()) - ld.add_action(LBRDescriptionMixin.arg_robot_name()) ld.add_action(LBRDescriptionMixin.arg_mode()) ld.add_action(OpaqueFunction(function=hidden_setup)) diff --git a/lbr_demos/lbr_moveit_py/doc/lbr_moveit_py.rst b/lbr_demos/lbr_moveit_py/doc/lbr_moveit_py.rst index d1358852..be501779 100644 --- a/lbr_demos/lbr_moveit_py/doc/lbr_moveit_py.rst +++ b/lbr_demos/lbr_moveit_py/doc/lbr_moveit_py.rst @@ -18,9 +18,16 @@ Simulation .. code-block:: bash - ros2 launch lbr_bringup bringup.launch.py \ - moveit:=true \ - sim:=true \ + ros2 launch lbr_bringup mock.launch.py \ + model:=iiwa7 # [iiwa7, iiwa14, med7, med14] + +#. Run MoveIt with RViz: + + .. code-block:: bash + + ros2 launch lbr_moveit_py move_group.launch.py \ + mode:=mock \ + rviz:=true \ model:=iiwa7 # [iiwa7, iiwa14, med7, med14] #. You can now move the robot via MoveIt in RViZ! @@ -45,4 +52,4 @@ Hardware - ``FRI control mode``: ``POSITION_CONTROL`` or ``JOINT_IMPEDANCE_CONTROL`` - ``FRI client command mode``: ``POSITION`` -#. Proceed with steps 1 and 2 from `Simulation`_ but with ``sim:=false``. +#. Proceed with steps 1 and 2 from `Simulation`_ but with ``ros2 launch lbr_bringup hardware.launch.py``.