[ur_gazebo] Add possibility to specify transmission_interface and position-controllers (#685)

fmauch · web-flow · commit cce1f0e55b26 · 2024-09-09T08:55:42.000+02:00
diff --git a/ur_gazebo/config/ur10_controllers.yaml b/ur_gazebo/config/ur10_controllers.yaml
@@ -34,3 +34,23 @@ eff_joint_traj_controller:
 joint_group_eff_controller:
   type: effort_controllers/JointGroupEffortController
   joints: *robot_joints
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: *robot_joints
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/config/ur10e_controllers.yaml
@@ -34,3 +34,23 @@ eff_joint_traj_controller:
 joint_group_eff_controller:
   type: effort_controllers/JointGroupEffortController
   joints: *robot_joints
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: *robot_joints
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur16e_controllers.yaml b/ur_gazebo/config/ur16e_controllers.yaml
@@ -34,3 +34,23 @@ eff_joint_traj_controller:
 joint_group_eff_controller:
   type: effort_controllers/JointGroupEffortController
   joints: *robot_joints
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: *robot_joints
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur20_controllers.yaml b/ur_gazebo/config/ur20_controllers.yaml
@@ -34,3 +34,23 @@ eff_joint_traj_controller:
 joint_group_eff_controller:
   type: effort_controllers/JointGroupEffortController
   joints: *robot_joints
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: *robot_joints
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur30_controllers.yaml b/ur_gazebo/config/ur30_controllers.yaml
@@ -34,3 +34,23 @@ eff_joint_traj_controller:
 joint_group_eff_controller:
   type: effort_controllers/JointGroupEffortController
   joints: *robot_joints
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: *robot_joints
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur3_controllers.yaml b/ur_gazebo/config/ur3_controllers.yaml
@@ -34,3 +34,23 @@ eff_joint_traj_controller:
 joint_group_eff_controller:
   type: effort_controllers/JointGroupEffortController
   joints: *robot_joints
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: *robot_joints
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur3e_controllers.yaml b/ur_gazebo/config/ur3e_controllers.yaml
@@ -34,3 +34,23 @@ eff_joint_traj_controller:
 joint_group_eff_controller:
   type: effort_controllers/JointGroupEffortController
   joints: *robot_joints
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: *robot_joints
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur5_controllers.yaml b/ur_gazebo/config/ur5_controllers.yaml
@@ -34,3 +34,23 @@ eff_joint_traj_controller:
 joint_group_eff_controller:
   type: effort_controllers/JointGroupEffortController
   joints: *robot_joints
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: *robot_joints
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur5e_controllers.yaml b/ur_gazebo/config/ur5e_controllers.yaml
@@ -34,3 +34,23 @@ eff_joint_traj_controller:
 joint_group_eff_controller:
   type: effort_controllers/JointGroupEffortController
   joints: *robot_joints
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: *robot_joints
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch
@@ -36,6 +36,7 @@
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>
+  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
@@ -56,6 +57,7 @@
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
     <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
   </include>
 
   <!-- Robot state publisher -->
diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch
@@ -36,6 +36,7 @@
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
+  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur10e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
@@ -56,6 +57,7 @@
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
     <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
   </include>
 
   <!-- Robot state publisher -->
diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch
@@ -36,6 +36,7 @@
   <arg name="kinematics_params" default="$(find ur_description)/config/ur16e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur16e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>
+  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur16e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
@@ -56,6 +57,7 @@
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
     <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
   </include>
 
   <!-- Robot state publisher -->
diff --git a/ur_gazebo/launch/ur20_bringup.launch b/ur_gazebo/launch/ur20_bringup.launch
@@ -36,6 +36,7 @@
   <arg name="kinematics_params" default="$(find ur_description)/config/ur20/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur20/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur20/visual_parameters.yaml"/>
+  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur20_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
@@ -56,6 +57,7 @@
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
     <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
   </include>
 
   <!-- Robot state publisher -->
diff --git a/ur_gazebo/launch/ur30_bringup.launch b/ur_gazebo/launch/ur30_bringup.launch
@@ -36,6 +36,7 @@
   <arg name="kinematics_params" default="$(find ur_description)/config/ur30/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur30/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur30/visual_parameters.yaml"/>
+  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur30_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
@@ -56,6 +57,7 @@
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
     <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
   </include>
 
   <!-- Robot state publisher -->
diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch
@@ -36,6 +36,7 @@
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
+  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
@@ -56,6 +57,7 @@
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
     <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
   </include>
 
   <!-- Robot state publisher -->
diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch
@@ -36,6 +36,7 @@
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
+  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur3e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
@@ -56,6 +57,7 @@
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
     <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
   </include>
 
   <!-- Robot state publisher -->
diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch
@@ -36,6 +36,7 @@
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
+  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
@@ -56,6 +57,7 @@
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
     <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
   </include>
 
   <!-- Robot state publisher -->
diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch
@@ -36,6 +36,7 @@
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
+  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>
 
   <!-- Controller configuration -->
   <arg name="controller_config_file" default="$(find ur_gazebo)/config/ur5e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
@@ -56,6 +57,7 @@
     <arg name="kinematics_params" value="$(arg kinematics_params)"/>
     <arg name="physical_params" value="$(arg physical_params)"/>
     <arg name="visual_params" value="$(arg visual_params)"/>
+    <arg name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
   </include>
 
   <!-- Robot state publisher -->
