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upstream: ros2_control deprecation replace fake with mock #32

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upstream: ros2_control deprecation replace fake with mock #32

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4 changes: 2 additions & 2 deletions robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,8 @@
name="${name}" prefix="${prefix}"
sim_ignition="${sim_ignition}"
sim_isaac="${sim_isaac}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
use_mock_hardware="${use_fake_hardware}"
mock_sensor_commands="${fake_sensor_commands}"
com_port="${com_port}"/>
</xacro:if>

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58 changes: 40 additions & 18 deletions robotiq_description/urdf/robotiq_gripper.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,8 @@
prefix
sim_ignition:=false
sim_isaac:=false
use_fake_hardware:=false
fake_sensor_commands:=false
use_mock_hardware:=false
mock_sensor_commands:=false
com_port:=/dev/ttyUSB0">

<ros2_control name="${name}" type="system">
Expand All @@ -21,12 +21,12 @@
<xacro:if value="${sim_ignition}">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</xacro:if>
<xacro:if value="${use_fake_hardware}">
<xacro:if value="${use_mock_hardware}">
<plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="mock_sensor_commands">${mock_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware or sim_ignition or sim_isaac}">
<xacro:unless value="${use_mock_hardware or sim_ignition or sim_isaac}">
<plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
<param name="gripper_closed_position">0.7929</param>
<param name="COM_port">${com_port}</param>
Expand All @@ -42,58 +42,80 @@
<state_interface name="position">
<param name="initial_value">0.7929</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<!-- When simulating we need to include the rest of the gripper joints -->
<xacro:if value="${use_fake_hardware or sim_isaac or sim_ignition}">
<xacro:if value="${use_mock_hardware or sim_isaac or sim_ignition}">
<joint name="${prefix}robotiq_85_right_knuckle_joint">
<param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
<param name="multiplier">-1</param>
<xacro:unless value="${sim_ignition}">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">-0.7929</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</xacro:unless>
</joint>
<joint name="${prefix}robotiq_85_left_inner_knuckle_joint">
<param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
<param name="multiplier">1</param>
<xacro:unless value="${sim_ignition}">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.7929</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</xacro:unless>
</joint>
<joint name="${prefix}robotiq_85_right_inner_knuckle_joint">
<param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
<param name="multiplier">-1</param>
<xacro:unless value="${sim_ignition}">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">-0.7929</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</xacro:unless>
</joint>
<joint name="${prefix}robotiq_85_left_finger_tip_joint">
<param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
<param name="multiplier">-1</param>
<xacro:unless value="${sim_ignition}">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">-0.7929</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</xacro:unless>
</joint>
<joint name="${prefix}robotiq_85_right_finger_tip_joint">
<param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
<param name="multiplier">1</param>
<xacro:unless value="${sim_ignition}">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.7929</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</xacro:unless>
</joint>
</xacro:if>

<!-- Only add this with fake hardware mode -->
<!-- Only add this with mock hardware mode -->
<xacro:unless value="${sim_ignition or sim_isaac}">
<gpio name="reactivate_gripper">
<command_interface name="reactivate_gripper_cmd" />
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