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Merge pull request #213 from lbr-stack/dev-rolling-admittance
LGTM
2 parents a5071d9 + 48f92c1 commit acde47a

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‎README.md‎

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@@ -78,8 +78,8 @@ Full documentation available on [Read the Docs](https://lbr-stack.readthedocs.io
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```shell
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source install/setup.bash
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ros2 launch lbr_bringup rviz.launch.py \
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rviz_config_pkg:=lbr_bringup \
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rviz_config:=config/mock.rviz
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rviz_cfg_pkg:=lbr_bringup \
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rviz_cfg:=config/mock.rviz
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```
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Now, run the [demos](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/doc/lbr_demos.html). To get started with the real robot, checkout the [Hardware Setup](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html).

‎lbr_bringup/config/gazebo.rviz‎

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@@ -67,59 +67,59 @@ Visualization Manager:
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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link_0:
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lbr_floating_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_1:
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lbr_link_0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_2:
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lbr_link_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_3:
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lbr_link_2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_4:
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lbr_link_3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_5:
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lbr_link_4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_6:
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lbr_link_5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_7:
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lbr_link_6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_ee:
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lbr_link_7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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world:
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Value: true
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lbr_link_ee:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Mass Properties:
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Inertia: false
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Mass: false
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Name: RobotModel
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TF Prefix: lbr
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true

‎lbr_bringup/config/hardware.rviz‎

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Original file line numberDiff line numberDiff line change
@@ -68,59 +68,59 @@ Visualization Manager:
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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link_0:
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lbr_floating_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_1:
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lbr_link_0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_2:
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lbr_link_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_3:
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lbr_link_2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_4:
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lbr_link_3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_5:
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lbr_link_4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_6:
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lbr_link_5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_7:
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lbr_link_6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_ee:
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lbr_link_7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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world:
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Value: true
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lbr_link_ee:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Mass Properties:
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Inertia: false
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Mass: false
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Name: RobotModel
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TF Prefix: lbr
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true

‎lbr_bringup/config/mock.rviz‎

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Original file line numberDiff line numberDiff line change
@@ -67,59 +67,59 @@ Visualization Manager:
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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link_0:
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lbr_floating_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_1:
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lbr_link_0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_2:
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lbr_link_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_3:
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lbr_link_2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_4:
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lbr_link_3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_5:
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lbr_link_4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_6:
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lbr_link_5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_7:
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lbr_link_6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link_ee:
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lbr_link_7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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world:
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Value: true
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lbr_link_ee:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Mass Properties:
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Inertia: false
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Mass: false
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Name: RobotModel
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TF Prefix: lbr
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true

‎lbr_bringup/doc/lbr_bringup.rst‎

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Original file line numberDiff line numberDiff line change
@@ -114,8 +114,8 @@ This launch file will spin up ``RViz`` for visualization. It will (see `rviz.lau
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.. code:: bash
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ros2 launch lbr_bringup rviz.launch.py \
117-
rviz_config_pkg:=lbr_bringup \
118-
rviz_config:=config/mock.rviz # [gazebo.rviz, hardware.rviz, mock.rviz]
117+
rviz_cfg_pkg:=lbr_bringup \
118+
rviz_cfg:=config/mock.rviz # [gazebo.rviz, hardware.rviz, mock.rviz]
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.. note::
121121
List all arguments for the launch file via ``ros2 launch lbr_bringup rviz.launch.py -s``.
@@ -156,8 +156,8 @@ The below shows an example of the `rviz.launch.py <https://github.com/lbr-stack/
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ld = LaunchDescription()
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# launch arguments
159-
ld.add_action(RVizMixin.arg_rviz_config())
160-
ld.add_action(RVizMixin.arg_rviz_config_pkg())
159+
ld.add_action(RVizMixin.arg_rviz_cfg())
160+
ld.add_action(RVizMixin.arg_rviz_cfg_pkg())
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# rviz
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ld.add_action(RVizMixin.node_rviz())

‎lbr_bringup/launch/gazebo.launch.py‎

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Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
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from launch import LaunchDescription
2-
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
2+
from launch.substitutions import LaunchConfiguration, PythonExpression
33
from lbr_bringup.description import LBRDescriptionMixin
44
from lbr_bringup.gazebo import GazeboMixin
55
from lbr_bringup.ros2_control import LBRROS2ControlMixin
@@ -15,13 +15,15 @@ def generate_launch_description() -> LaunchDescription:
1515
LBRROS2ControlMixin.arg_ctrl()
1616
) # Gazebo loads controller configuration through lbr_description/gazebo/*.xacro from lbr_ros2_control/config/lbr_controllers.yaml
1717

18-
# static transform world -> robot_name/world
18+
# static transform world -> <robot_name>_floating_link
1919
world_robot_tf = [0, 0, 0, 0, 0, 0] # keep zero
2020
ld.add_action(
2121
LBRDescriptionMixin.node_static_tf(
2222
tf=world_robot_tf,
2323
parent="world",
24-
child=PathJoinSubstitution([LaunchConfiguration("robot_name"), "world"]),
24+
child=PythonExpression(
25+
["'", LaunchConfiguration("robot_name"), "' + '_floating_link'"]
26+
),
2527
)
2628
)
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‎lbr_bringup/launch/hardware.launch.py‎

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Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
from launch import LaunchDescription
22
from launch.actions import RegisterEventHandler
33
from launch.event_handlers import OnProcessStart
4-
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
4+
from launch.substitutions import LaunchConfiguration, PythonExpression
55
from lbr_bringup.description import LBRDescriptionMixin
66
from lbr_bringup.ros2_control import LBRROS2ControlMixin
77

@@ -12,17 +12,20 @@ def generate_launch_description() -> LaunchDescription:
1212
# launch arguments
1313
ld.add_action(LBRDescriptionMixin.arg_model())
1414
ld.add_action(LBRDescriptionMixin.arg_robot_name())
15-
ld.add_action(LBRDescriptionMixin.arg_port_id())
15+
ld.add_action(LBRROS2ControlMixin.arg_sys_cfg_pkg())
16+
ld.add_action(LBRROS2ControlMixin.arg_sys_cfg())
1617
ld.add_action(LBRROS2ControlMixin.arg_ctrl_cfg_pkg())
1718
ld.add_action(LBRROS2ControlMixin.arg_ctrl_cfg())
1819
ld.add_action(LBRROS2ControlMixin.arg_ctrl())
1920

20-
# static transform world -> robot_name/world
21+
# static transform world -> <robot_name>_floating_link
2122
ld.add_action(
2223
LBRDescriptionMixin.node_static_tf(
2324
tf=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
2425
parent="world",
25-
child=PathJoinSubstitution([LaunchConfiguration("robot_name"), "world"]),
26+
child=PythonExpression(
27+
["'", LaunchConfiguration("robot_name"), "' + '_floating_link'"]
28+
),
2629
)
2730
)
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‎lbr_bringup/launch/mock.launch.py‎

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Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
from launch import LaunchDescription
22
from launch.actions import RegisterEventHandler
33
from launch.event_handlers import OnProcessStart
4-
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
4+
from launch.substitutions import LaunchConfiguration, PythonExpression
55
from lbr_bringup.description import LBRDescriptionMixin
66
from lbr_bringup.ros2_control import LBRROS2ControlMixin
77

@@ -16,12 +16,14 @@ def generate_launch_description() -> LaunchDescription:
1616
ld.add_action(LBRROS2ControlMixin.arg_ctrl_cfg())
1717
ld.add_action(LBRROS2ControlMixin.arg_ctrl())
1818

19-
# static transform world -> robot_name/world
19+
# static transform world -> <robot_name>_floating_link
2020
ld.add_action(
2121
LBRDescriptionMixin.node_static_tf(
2222
tf=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
2323
parent="world",
24-
child=PathJoinSubstitution([LaunchConfiguration("robot_name"), "world"]),
24+
child=PythonExpression(
25+
["'", LaunchConfiguration("robot_name"), "' + '_floating_link'"]
26+
),
2527
)
2628
)
2729

‎lbr_bringup/launch/move_group.launch.py‎

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Original file line numberDiff line numberDiff line change
@@ -46,8 +46,8 @@ def hidden_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
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4747
# RViz if desired
4848
rviz = RVizMixin.node_rviz(
49-
rviz_config_pkg=f"{model}_moveit_config",
50-
rviz_config="config/moveit.rviz",
49+
rviz_cfg_pkg=f"{model}_moveit_config",
50+
rviz_cfg="config/moveit.rviz",
5151
parameters=LBRMoveGroupMixin.params_rviz(
5252
moveit_configs=moveit_configs_builder.to_moveit_configs()
5353
)

‎lbr_bringup/launch/rviz.launch.py‎

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Original file line numberDiff line numberDiff line change
@@ -6,8 +6,8 @@ def generate_launch_description() -> LaunchDescription:
66
ld = LaunchDescription()
77

88
# launch arguments
9-
ld.add_action(RVizMixin.arg_rviz_config())
10-
ld.add_action(RVizMixin.arg_rviz_config_pkg())
9+
ld.add_action(RVizMixin.arg_rviz_cfg())
10+
ld.add_action(RVizMixin.arg_rviz_cfg_pkg())
1111

1212
# rviz
1313
ld.add_action(RVizMixin.node_rviz())

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