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CHANGE: Remove namespace from franka_gazebo launch file #196

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merged 3 commits into from
Nov 10, 2021
Merged

CHANGE: Remove namespace from franka_gazebo launch file #196

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2f770be
CHANGE: Remove namespace from `franka_gazebo` launch file
gollth Nov 8, 2021
dcaebaf
ADD: Changelog entry
gollth Nov 9, 2021
f1197b0
use franka_description_with_marker.rviz for gazebo launch file
Nov 9, 2021
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -8,6 +8,7 @@
* No further ROS Kinetic support, since [End-of-Life was in April 2021](http://wiki.ros.org/Distributions)
* Make position + orientation targets threadsafe in cartesian example controller
* Add singularity warning to `franka_gazebo` if Jacobian becomes singular
* **BREAKING** Make `/panda` namespace of `franka_gazebo` optional

## 0.8.1 - 2021-09-08

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1 change: 0 additions & 1 deletion franka_description/robots/panda_arm.urdf.xacro
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Expand Up @@ -61,7 +61,6 @@

<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>$(arg arm_id)</robotNamespace>
<controlPeriod>0.001</controlPeriod>
<robotSimType>franka_gazebo/FrankaHWSim</robotSimType>
</plugin>
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195 changes: 0 additions & 195 deletions franka_gazebo/config/franka_sim_description_with_marker.rviz
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105 changes: 51 additions & 54 deletions franka_gazebo/launch/panda.launch
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Expand Up @@ -37,67 +37,64 @@
<arg name="use_sim_time" value="true"/>
</include>

<group ns="$(arg arm_id)">
<param name="robot_description"
command="xacro $(find franka_description)/robots/panda_arm.urdf.xacro
gazebo:=true
hand:=$(arg use_gripper)
arm_id:=$(arg arm_id)
xyz:='$(arg x) $(arg y) $(arg z)'
rpy:='$(arg roll) $(arg pitch) $(arg yaw)'">
</param>
<param name="robot_description"
command="xacro $(find franka_description)/robots/panda_arm.urdf.xacro
gazebo:=true
hand:=$(arg use_gripper)
arm_id:=$(arg arm_id)
xyz:='$(arg x) $(arg y) $(arg z)'
rpy:='$(arg roll) $(arg pitch) $(arg yaw)'">
</param>

<rosparam file="$(find franka_gazebo)/config/franka_hw_sim.yaml" subst_value="true" />
<rosparam file="$(find franka_gazebo)/config/sim_controllers.yaml" subst_value="true" />
<rosparam file="$(find franka_gazebo)/config/franka_hw_sim.yaml" subst_value="true" />
<rosparam file="$(find franka_gazebo)/config/sim_controllers.yaml" subst_value="true" />

<param name="m_ee" value="0.76" if="$(arg use_gripper)" />
<param name="m_ee" value="0.76" if="$(arg use_gripper)" />

<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
<node name="$(arg arm_id)_model_spawner"
pkg="gazebo_ros"
type="spawn_model"
args="-param robot_description -urdf -model $(arg arm_id) $(arg unpause)
$(arg initial_joint_positions)
"/>
<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
<node name="$(arg arm_id)_model_spawner"
pkg="gazebo_ros"
type="spawn_model"
args="-param robot_description -urdf -model $(arg arm_id) $(arg unpause)
$(arg initial_joint_positions)
"/>

<!-- Spawn required ROS controllers -->
<node pkg="controller_manager"
type="spawner"
name="$(arg arm_id)_gripper_spawner"
if="$(arg use_gripper)"
args="franka_gripper"
respawn="false"
/>
<!-- Spawn required ROS controllers -->
<node pkg="controller_manager"
type="spawner"
name="$(arg arm_id)_gripper_spawner"
if="$(arg use_gripper)"
args="franka_gripper"
respawn="false"
/>

<node pkg="controller_manager"
type="spawner"
name="$(arg arm_id)_controller_spawner"
respawn="false" output="screen"
args="franka_state_controller $(arg controller)"
/>
<node pkg="controller_manager"
type="spawner"
name="$(arg arm_id)_controller_spawner"
respawn="false" output="screen"
args="franka_state_controller $(arg controller)"
/>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
<rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<param name="rate" value="30"/>
</node>
<node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
<rosparam param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
<param name="rate" value="30"/>
<remap from="joint_states" to="joint_states_desired" />
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
<rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<param name="rate" value="30"/>
</node>
<node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
<rosparam param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
<param name="rate" value="30"/>
<remap from="joint_states" to="joint_states_desired" />
</node>

<!-- Start only if cartesian_impedance_example_controller -->
<node name="interactive_marker"
pkg="franka_example_controllers"
type="interactive_marker.py"
if="$(eval arg('controller') == 'cartesian_impedance_example_controller')">
<param name="link_name" value="$(arg arm_id)_link0" />
<remap to="cartesian_impedance_example_controller/equilibrium_pose" from="equilibrium_pose" />
</node>
<!-- Start only if cartesian_impedance_example_controller -->
<node name="interactive_marker"
pkg="franka_example_controllers"
type="interactive_marker.py"
if="$(eval arg('controller') == 'cartesian_impedance_example_controller')">
<param name="link_name" value="$(arg arm_id)_link0" />
<remap to="cartesian_impedance_example_controller/equilibrium_pose" from="equilibrium_pose" />
</node>

</group>

<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_gazebo)/config/franka_sim_description_with_marker.rviz" if="$(arg rviz)"/>
<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/rviz/franka_description_with_marker.rviz" if="$(arg rviz)"/>

</launch>