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Commit 3f695940 authored by Florian Walch's avatar Florian Walch
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Remove arm_id from launchfiles, change franka_control namespacing

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CHANGELOG.md
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...@@ -2,6 +2,8 @@ ...@@ -2,6 +2,8 @@
## 0.4.0 - UNRELEASED ## 0.4.0 - UNRELEASED
* **BREAKING** Removed `arm_id` from launchfiles
* **BREAKING** Changed namespace of `franka_control` controller manager
* Changes in `panda_moveit_config`: * Changes in `panda_moveit_config`:
* Updated joint limits from URDF * Updated joint limits from URDF
* Removed `home` poses * Removed `home` poses
......
franka_control/config/default_controllers.yaml
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...@@ -63,4 +63,12 @@ effort_joint_trajectory_controller: ...@@ -63,4 +63,12 @@ effort_joint_trajectory_controller:
franka_state_controller: franka_state_controller:
type: franka_control/FrankaStateController type: franka_control/FrankaStateController
publish_rate: 30 # [Hz] publish_rate: 30 # [Hz]
joint_names:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
arm_id: panda
franka_control/launch/franka_control.launch
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<?xml version="1.0" ?> <?xml version="1.0" ?>
<launch> <launch>
<arg name="robot_ip" default="robot.franka.de" /> <arg name="robot_ip" default="robot.franka.de" />
<arg name="arm_id" default="panda" />
<arg name="load_gripper" default="true" /> <arg name="load_gripper" default="true" />
<node name="$(arg arm_id)" pkg="franka_control" type="franka_control_node" output="screen" required="true">
<rosparam command="load" file="$(find franka_control)/config/franka_control.yaml" />
<param name="robot_ip" value="$(arg robot_ip)" />
<param name="arm_id" value="$(arg arm_id)" />
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" /> <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" />
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" unless="$(arg load_gripper)" /> <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" unless="$(arg load_gripper)" />
<node name="franka_control" pkg="franka_control" type="franka_control_node" output="screen" required="true">
<rosparam command="load" file="$(find franka_control)/config/franka_control_node.yaml" />
<param name="robot_ip" value="$(arg robot_ip)" />
</node> </node>
<group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" /> <rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
<node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/> <node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen"> <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" /> <rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states, franka_gripper_node/joint_states] </rosparam>
<rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam> <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
<param name="rate" value="30"/> <param name="rate" value="30"/>
</node> </node>
</group>
</launch> </launch>
franka_control/src/franka_control_node.cpp
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...@@ -30,7 +30,8 @@ class ServiceContainer { ...@@ -30,7 +30,8 @@ class ServiceContainer {
}; };
int main(int argc, char** argv) { int main(int argc, char** argv) {
ros::init(argc, argv, "franka_hw"); ros::init(argc, argv, "franka_control_node");
ros::NodeHandle public_node_handle;
ros::NodeHandle node_handle("~"); ros::NodeHandle node_handle("~");
std::vector<std::string> joint_names_vector; std::vector<std::string> joint_names_vector;
...@@ -42,9 +43,16 @@ int main(int argc, char** argv) { ...@@ -42,9 +43,16 @@ int main(int argc, char** argv) {
std::copy(joint_names_vector.cbegin(), joint_names_vector.cend(), joint_names.begin()); std::copy(joint_names_vector.cbegin(), joint_names_vector.cend(), joint_names.begin());
std::string robot_ip; std::string robot_ip;
node_handle.getParam("robot_ip", robot_ip); if (!node_handle.getParam("robot_ip", robot_ip)) {
ROS_ERROR("Invalid or no robot_ip parameter provided");
return 1;
}
std::string arm_id; std::string arm_id;
node_handle.getParam("arm_id", arm_id); if (!node_handle.getParam("arm_id", arm_id)) {
ROS_ERROR("Invalid or no arm_id parameter provided");
return 1;
}
franka::Robot robot(robot_ip); franka::Robot robot(robot_ip);
// Set default collision behavior // Set default collision behavior
...@@ -87,6 +95,7 @@ int main(int argc, char** argv) { ...@@ -87,6 +95,7 @@ int main(int argc, char** argv) {
robot.automaticErrorRecovery(); robot.automaticErrorRecovery();
has_error = false; has_error = false;
recovery_action_server.setSucceeded(); recovery_action_server.setSucceeded();
ROS_INFO("Recovered from error");
} catch (const franka::Exception& ex) { } catch (const franka::Exception& ex) {
recovery_action_server.setAborted(franka_control::ErrorRecoveryResult(), ex.what()); recovery_action_server.setAborted(franka_control::ErrorRecoveryResult(), ex.what());
} }
...@@ -94,12 +103,12 @@ int main(int argc, char** argv) { ...@@ -94,12 +103,12 @@ int main(int argc, char** argv) {
false); false);
franka::Model model = robot.loadModel(); franka::Model model = robot.loadModel();
franka_hw::FrankaHW franka_control(joint_names, arm_id, node_handle, model); franka_hw::FrankaHW franka_control(joint_names, arm_id, public_node_handle, model);
// Initialize robot state before loading any controller // Initialize robot state before loading any controller
franka_control.update(robot.readOnce()); franka_control.update(robot.readOnce());
controller_manager::ControllerManager control_manager(&franka_control, node_handle); controller_manager::ControllerManager control_manager(&franka_control, public_node_handle);
recovery_action_server.start(); recovery_action_server.start();
......
franka_control/src/franka_state_controller.cpp
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...@@ -151,7 +151,7 @@ bool FrankaStateController::init(hardware_interface::RobotHW* robot_hardware, ...@@ -151,7 +151,7 @@ bool FrankaStateController::init(hardware_interface::RobotHW* robot_hardware,
ROS_ERROR("FrankaStateController: Could not get Franka state interface from hardware"); ROS_ERROR("FrankaStateController: Could not get Franka state interface from hardware");
return false; return false;
} }
if (!root_node_handle.getParam("arm_id", arm_id_)) { if (!controller_node_handle.getParam("arm_id", arm_id_)) {
ROS_ERROR("FrankaStateController: Could not get parameter arm_id"); ROS_ERROR("FrankaStateController: Could not get parameter arm_id");
return false; return false;
} }
...@@ -163,7 +163,7 @@ bool FrankaStateController::init(hardware_interface::RobotHW* robot_hardware, ...@@ -163,7 +163,7 @@ bool FrankaStateController::init(hardware_interface::RobotHW* robot_hardware,
<< publish_rate << " [Hz]."); << publish_rate << " [Hz].");
} }
if (!root_node_handle.getParam("joint_names", joint_names_) || if (!controller_node_handle.getParam("joint_names", joint_names_) ||
joint_names_.size() != robot_state_.q.size()) { joint_names_.size() != robot_state_.q.size()) {
ROS_ERROR( ROS_ERROR(
"FrankaStateController: Invalid or no joint_names parameters provided, aborting " "FrankaStateController: Invalid or no joint_names parameters provided, aborting "
......
franka_example_controllers/launch/move_to_start.launch
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<?xml version="1.0" ?> <?xml version="1.0" ?>
<launch> <launch>
<arg name="robot_ip" default="robot.franka.de" /> <arg name="robot_ip" default="robot.franka.de" />
<arg name="arm_id" default="panda" />
<arg name="load_gripper" default="true" /> <arg name="load_gripper" default="true" />
<include file="$(find franka_control)/launch/franka_control.launch"> <include file="$(find franka_control)/launch/franka_control.launch">
<arg name="robot_ip" value="$(arg robot_ip)" /> <arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="arm_id" value="$(arg arm_id)" />
<arg name="load_gripper" value="$(arg load_gripper)" /> <arg name="load_gripper" value="$(arg load_gripper)" />
</include> </include>
<include file="$(find panda_moveit_config)/launch/panda_moveit.launch"> <include file="$(find panda_moveit_config)/launch/panda_moveit.launch">
<arg name="arm_id" value="$(arg arm_id)" />
</include> </include>
<group ns="$(arg arm_id)">
<node name="move_to_start" pkg="franka_example_controllers" type="move_to_start.py" output="screen" required="true" /> <node name="move_to_start" pkg="franka_example_controllers" type="move_to_start.py" output="screen" required="true" />
</group>
</launch> </launch>
franka_gripper/launch/franka_gripper.launch
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<?xml version="1.0" ?> <?xml version="1.0" ?>
<launch> <launch>
<arg name="robot_ip" default="robot.franka.de" /> <arg name="robot_ip" default="robot.franka.de" />
<arg name="arm_id" default="panda" />
<group ns="$(arg arm_id)"> <node name="franka_gripper" pkg="franka_gripper" type="franka_gripper_node" output="screen">
<node name="franka_gripper_node" pkg="franka_gripper" type="franka_gripper_node" output="screen">
<param name="robot_ip" value="$(arg robot_ip)"/> <param name="robot_ip" value="$(arg robot_ip)"/>
<rosparam command="load" file="$(find franka_gripper)/config/gripper_node_config.yaml" /> <rosparam command="load" file="$(find franka_gripper)/config/franka_gripper_node.yaml" />
</node> </node>
</group>
</launch> </launch>
franka_visualization/launch/franka_visualization.launch
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...@@ -21,8 +21,6 @@ ...@@ -21,8 +21,6 @@
</node> </node>
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen"> <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<param if="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />
<param unless="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" />
<param name="rate" value="$(arg publish_rate)" /> <param name="rate" value="$(arg publish_rate)" />
<rosparam param="source_list">[robot_joint_state_publisher/joint_states, gripper_joint_state_publisher/joint_states]</rosparam> <rosparam param="source_list">[robot_joint_state_publisher/joint_states, gripper_joint_state_publisher/joint_states]</rosparam>
</node> </node>
......
panda_moveit_config/launch/moveit_rviz.launch
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...@@ -8,13 +8,9 @@ ...@@ -8,13 +8,9 @@
<arg unless="$(arg config)" name="command_args" value="" /> <arg unless="$(arg config)" name="command_args" value="" />
<arg if="$(arg config)" name="command_args" value="-d $(find panda_moveit_config)/launch/moveit.rviz" /> <arg if="$(arg config)" name="command_args" value="-d $(find panda_moveit_config)/launch/moveit.rviz" />
<arg name="arm_id" default="panda" />
<group ns="$(arg arm_id)">
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen"> args="$(arg command_args)" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node> </node>
</group>
</launch> </launch>
panda_moveit_config/launch/panda_moveit.launch
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<?xml version="1.0" ?> <?xml version="1.0" ?>
<launch> <launch>
<arg name="arm_id" default="panda" />
<!-- Valid values: "position", "effort" --> <!-- Valid values: "position", "effort" -->
<arg name="controller" default="position" /> <arg name="controller" default="position" />
<group ns="$(arg arm_id)">
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg controller)_joint_trajectory_controller"/> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg controller)_joint_trajectory_controller"/>
<include file="$(find panda_moveit_config)/launch/move_group.launch" /> <include file="$(find panda_moveit_config)/launch/move_group.launch" />
</group>
</launch> </launch>
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