feat: make code compatible with latest franka_ros version (#183)

This commit guarantees that the `panda_gazebo` code aligns with the most
recent upstream commit (specifically
5f90395ef000e0c998fb7aff8f127b9bd3773962). Adjustments were made to the
joint position and joint effort control services to integrate with the
updated version seamlessly. In the new iteration, the panda arm joint
positions and efforts are managed through group controllers. You can
find additional insights at
frankaemika/franka_ros#181 (comment).

panda_gazebo/cfg/controllers/effort_joint_trajectory_controllers.yaml

@@ -1,5 +1,7 @@
 # Configuration file that contains the configuration values for setting up the panda
 # trajectory controllers that can control a joint effort hardware interface.
+# NOTE: Equal to Franka's 'effort_joint_trajectory_controller' but with a different 
+# goal tolerance (see https://github.com/frankaemika/franka_ros/issues/201).
 panda_arm_controller:
   type: effort_controllers/JointTrajectoryController
   joints:
@@ -20,7 +22,6 @@ panda_arm_controller:
     panda_joint7: { p:  50, d:  5, i: 0 }
   constraints:
     goal_time: 0.5
-    stopped_velocity_tolerance: 0 # Added because of wrong PID gains see #9
     panda_joint1: { goal: 0.005 }
     panda_joint2: { goal: 0.005 }
     panda_joint3: { goal: 0.005 }

panda_gazebo/cfg/controllers/joint_group_effort_controller.yaml

@@ -0,0 +1,12 @@
+# Configuration file that contains the configuration values for setting up the panda
+# group effort controller.
+panda_arm_joint_effort_controller:
+  type: effort_controllers/JointGroupEffortController
+  joints:
+    - panda_joint1
+    - panda_joint2
+    - panda_joint3
+    - panda_joint4
+    - panda_joint5
+    - panda_joint6
+    - panda_joint7

panda_gazebo/cfg/controllers/joint_group_position_controller.yaml

@@ -0,0 +1,12 @@
+# Configuration file that contains the configuration values for setting up the panda
+# group position controller.
+panda_arm_joint_position_controller:
+  type: position_controllers/JointGroupPositionController
+  joints:
+    - panda_joint1
+    - panda_joint2
+    - panda_joint3
+    - panda_joint4
+    - panda_joint5
+    - panda_joint6
+    - panda_joint7

panda_gazebo/cfg/controllers/position_joint_trajectory_controllers.yaml

@@ -1,5 +1,7 @@
 # Configuration file that contains the configuration values for setting up the panda
 # trajectory controllers.
+# NOTE: Equal to Franka's 'position_joint_trajectory_controller' but with a different 
+# goal tolerance (see https://github.com/frankaemika/franka_ros/issues/201).
 panda_arm_controller:
   type: position_controllers/JointTrajectoryController
   joints:

panda_gazebo/cfg/dyn_reconf/EffortControlTestDynReconf.cfg

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-# NOTE: Config for changing the joint efforts.
+# NOTE: Config for changing the panda arm joint efforts and gripper width and speed.
 PACKAGE = "panda_gazebo"
 
 from dynamic_reconfigure.parameter_generator_catkin import (ParameterGenerator,
@@ -39,4 +39,4 @@ hand.add(
 )
 
 # Generate the necessary files and exit the program.
-exit(gen.generate(PACKAGE, "panda_test", "JointEffort"))
+exit(gen.generate(PACKAGE, "panda_test", "JointEfforts"))

panda_gazebo/cfg/dyn_reconf/PositionControlTestDynReconf.cfg

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-# NOTE: Config for the changing the joint positions
+# NOTE: Config for the changing the panda arm joint positions and gripper width and speed.
 PACKAGE = "panda_gazebo"
 
 from dynamic_reconfigure.parameter_generator_catkin import (ParameterGenerator,
@@ -39,4 +39,4 @@ hand.add(
 )
 
 # Generate the necessary files and exit the program.
-exit(gen.generate(PACKAGE, "panda_test", "JointPosition"))
+exit(gen.generate(PACKAGE, "panda_test", "JointPositions"))

panda_gazebo/docs/source/get_started/usage.rst

@@ -24,16 +24,18 @@ modes that can be selected using the ``control_mode`` argument:
 
 .. Note::
 
-    You can test different control modes using the :mod:`joint_effort_dynamic_reconfigure_server` and :mod:`joint_position_dynamic_reconfigure_server` nodes. 
+    You can test different control modes using the :mod:`joint_efforts_dynamic_reconfigure_server` and :mod:`joint_positions_dynamic_reconfigure_server` nodes. 
     These nodes allow you to send joint efforts and joint positions to the robot. To learn more about utilizing these dynamic reconfigure servers, refer to the 
     documentation of the `dynamic_reconfigure`_ and `rqt_reconfigure`_ ROS packages.
 
-    Furthermore, you can explore trajectory control using the `MoveIt! package`_. To enable this functionality, set the ``use_moveit`` launch file argument to ```true``. Once 
-    enabled, you can control the robot through the `RViz Motion Planning`_ panel. For detailed instructions on how to use `MoveIt!`_, consult the `MoveIt! tutorials`_.
+    Furthermore, you can explore trajectory control using the `MoveIt! package`_ or `rqt_joint_trajectory_controller package`_. To enable `MoveIt!`, set the
+    ``use_moveit`` launch file argument to ``true``. Once enabled, you can control the robot through the `RViz Motion Planning`_ panel. For detailed instructions on how to
+    use `MoveIt!`_, consult the `MoveIt! tutorials`_.
 
 .. _dynamic_reconfigure: https://wiki.ros.org/dynamic_reconfigure
 .. _rqt_reconfigure: https://wiki.ros.org/rqt_reconfigure
 .. _`MoveIt! package`: https://moveit.ros.org/
+.. _`rqt_joint_trajectory_controller package`: https://wiki.ros.org/rqt_joint_trajectory_controller
 .. _`RViz Motion Planning`: https://ros-planning.github.io/moveit_tutorials/doc/motion_planning_rviz/motion_planning_rviz_tutorial.html
 .. _`MoveIt!`: https://ros-planning.github.io/moveit_tutorials/
 .. _`MoveIt! tutorials`: https://ros-planning.github.io/moveit_tutorials/

panda_gazebo/launch/load_controllers.launch.xml

@@ -1,4 +1,4 @@
-<!--Launch file loads the control parameters and controllers-->
+<!--Launch file that loads the control parameters and controllers-->
 <launch>
   <arg name="moveit" default="true" doc="Start MoveIt"/>
   <arg name="load_gripper" default="true" doc="Load the gripper"/>
@@ -18,20 +18,20 @@
   <!--Load controllers-->
   <!--Joint position controllers-->
   <group if="$(eval arg('control_type') == 'position')">
-    <include file="$(find panda_gazebo)/launch/load_joint_position_controllers.launch.xml"/>
+    <include file="$(find panda_gazebo)/launch/load_joint_group_position_controller.launch.xml"/>
     <!--Load joint_trajectory controller in stopped mode
             NOTE: This enabled us to set the initial robot pose using euclidean coordinates.
         -->
-    <include file="$(find panda_gazebo)/launch/load_position_joint_trajectory_controllers.launch.xml">
+    <include file="$(find panda_gazebo)/launch/load_position_joint_trajectory_controller.launch.xml">
       <arg name="stopped" value="true"/>
     </include>
   </group>
   <!--Joint effort controllers-->
   <group if="$(eval arg('control_type') == 'effort')">
-    <include file="$(find panda_gazebo)/launch/load_joint_effort_controllers.launch.xml"/>
+    <include file="$(find panda_gazebo)/launch/load_joint_group_effort_controller.launch.xml"/>
   </group>
   <!--Joint_trajectory controller-->
-  <include unless="$(eval arg('control_type') == 'position')" file="$(find panda_gazebo)/launch/load_effort_joint_trajectory_controllers.launch.xml">
+  <include unless="$(eval arg('control_type') == 'position')" file="$(find panda_gazebo)/launch/load_effort_joint_trajectory_controller.launch.xml">
     <arg name="stopped" value="$(eval arg('control_type') == 'effort')"/>
   </include>
-</launch>
+</launch>

panda_gazebo/launch/load_effort_joint_trajectory_controllers.launch.xml → panda_gazebo/launch/load_effort_joint_trajectory_controller.launch.xml

@@ -1,4 +1,4 @@
-<!-- Launch file for launching the robot controllers -->
+<!--Launch file that launches a effort joint trajectory controller-->
 <launch>
   <arg name="stopped" default="false" doc="Spawn the controllers in stoped mode"/>
 
@@ -10,4 +10,4 @@
   <arg unless="$(arg stopped)" name="command_args" value=""/>
 
   <node name="effort_joint_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_controller"/>
-</launch>
+</launch>

panda_gazebo/launch/load_joint_group_effort_controller.launch.xml

@@ -0,0 +1,12 @@
+<!--Launch file that launches a joint group effort controller-->
+<launch>
+  <arg name="stopped" default="false" doc="Spawn the controllers in stoped mode"/>
+
+  <!--Load controller parameters-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/joint_group_effort_controller.yaml" command="load"/>
+
+  <!--Load the controllers-->
+  <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
+  <arg unless="$(arg stopped)" name="command_args" value="" />
+  <node name="joint_effort_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_joint_effort_controller"/>
+</launch>

panda_gazebo/launch/load_joint_group_position_controller.launch.xml

@@ -0,0 +1,12 @@
+<!--Launch file that launches a joint group position controller-->
+<launch>
+  <arg name="stopped" default="false" doc="Spawn the controllers in stoped mode"/>
+
+  <!--Load controller parameters-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/joint_group_position_controller.yaml" command="load"/>
+
+  <!--Load the controllers-->
+  <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
+  <arg unless="$(arg stopped)" name="command_args" value=""/>
+  <node name="joint_position_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_joint_position_controller"/>
+</launch>

panda_gazebo/launch/load_position_joint_trajectory_controllers.launch.xml → panda_gazebo/launch/load_position_joint_trajectory_controller.launch.xml

@@ -1,4 +1,4 @@
-<!-- Launch file for launching the robot controllers -->
+<!--Launch file that launches a position joint trajectory controller-->
 <launch>
   <arg name="stopped" default="false"/>
 
@@ -9,4 +9,4 @@
   <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
   <arg unless="$(arg stopped)" name="command_args" value=""/>
   <node name="position_joint_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_controller"/>
-</launch>
+</launch>

panda_gazebo/launch/panda_rviz.launch.xml

@@ -1,18 +1,18 @@
-<!-- Launch file for loading RVIZ -->
+<!--Launch file for loading RVIZ -->
 <launch>
-  <!-- GDB Debug Option -->
+  <!--GDB Debug Option-->
   <arg name="debug" default="false" doc="Add gdb debug flag"/>
   <arg unless="$(arg debug)" name="launch_prefix" value=""/>
   <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args"/>
-  <!-- rviz launch arguments -->
+  <!--rviz launch arguments-->
   <arg name="moveit" default="false" doc="Start MoveIt"/>
   <arg unless="$(arg moveit)" name="rviz_file_default" value="$(find panda_gazebo)/launch/includes/rviz/panda.rviz"/>
   <arg if="$(arg moveit)" name="rviz_file_default" value="$(find panda_gazebo)/launch/includes/rviz/panda_moveit.rviz"/>
   <arg name="rviz_file" default="$(arg rviz_file_default)" doc="Path to the Rviz configuration file"/>
   <arg name="command_args" value="-d $(arg rviz_file)" />
 
-  <!-- launch rviz -->
+  <!--launch rviz-->
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" args="$(arg command_args)" output="screen">
     <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
   </node>
-</launch>
+</launch>

panda_gazebo/launch/put_robot_in_world.launch

@@ -12,7 +12,7 @@
   <arg name="end_effector" default="panda_link8" doc="The end effector link"/>
   <arg name="max_velocity_scaling_factor" default="1.0" doc="Factor used when scaling the MoveIt plan velocity"/>
   <arg name="max_acceleration_scaling_factor" default="1.0" doc="Factor used when scaling the MoveIt plan acceleration"/>
-  <!-- Gazebo specific options -->
+  <!--Gazebo specific options-->
   <arg name="world" default="$(find panda_gazebo)/resources/worlds/empty.world" doc="Path to the world file"/>
   <arg name="gazebo" default="false" doc="Start Gazebo"/>
   <arg name="paused" default="false" doc="Start gazebo paused"/>
@@ -23,15 +23,13 @@
   <arg name="roll" default="0" doc="How much to rotate the base of the robot around its X-axis in [rad]?"/>
   <arg name="pitch" default="0" doc="How much to rotate the base of the robot around its Y-axis in [rad]?"/>
   <arg name="yaw" default="0" doc="How much to rotate the base of the robot around its Z-axis in [rad]?"/>
+  <!--Phyics engines: dart|ode-->
+  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
   <!--Control arguments-->
   <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
   <arg name="control_type" default="trajectory" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>
   <arg name="brute_force_grasping" default="false" doc="Disable the gripper width reached check when grasping."/>
 
-  <!--Retrieve the right transmission for the control type-->
-  <arg if="$(eval arg('control_type') == 'position')" name="transmission" value="position"/>
-  <arg unless="$(eval arg('control_type') == 'position')" name="transmission" value="effort"/>
-
   <!--Spawn the Panda robot-->
   <include file="$(find franka_gazebo)/launch/panda.launch">
     <arg name="gazebo" value="$(arg gazebo)"/>
@@ -40,13 +38,13 @@
     <arg name="paused" value="$(arg paused)"/>
     <arg name="world" value="$(arg world)"/>
     <arg name="use_gripper" default="$(arg load_gripper)"/>
-    <arg name="transmission" value="$(arg transmission)"/>
     <arg name="x" value="$(arg x)"/>
     <arg name="y" value="$(arg y)"/>
     <arg name="z" value="$(arg z)"/>
     <arg name="roll" value="$(arg roll)"/>
     <arg name="pitch" value="$(arg pitch)"/>
     <arg name="yaw" value="$(arg yaw)" />
+    <arg name="physics" value="$(arg physics)"/>
   </include>
 
   <!--Set panda_gazebo parameters-->

panda_gazebo/launch/start_pick_and_place_world.launch

@@ -1,4 +1,4 @@
-<!-- Launch file for starting the grasp gazebo environment -->
+<!--Launch file for starting the grasp gazebo environment-->
 <launch>
   <!--Simulation arguments-->
   <arg name="world" value="$(find panda_gazebo)/resources/worlds/pick_and_place.world"/>
@@ -16,4 +16,4 @@
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
     <arg name="physics" value="$(arg physics)"/>
   </include>
-</launch>
+</launch>

panda_gazebo/launch/start_push_world.launch

@@ -1,4 +1,4 @@
-<!-- Launch file for starting the push gazebo environment -->
+<!--Launch file for starting the push gazebo environment-->
 <launch>
   <!--Simulation arguments-->
   <arg name="world" value="$(find panda_gazebo)/resources/worlds/push.world"/>
@@ -16,4 +16,4 @@
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
     <arg name="physics" value="$(arg physics)"/>
   </include>
-</launch>
+</launch>

panda_gazebo/launch/start_reach_world.launch

@@ -1,4 +1,4 @@
-<!-- Launch file for starting the reach gazebo environment -->
+<!--Launch file for starting the reach gazebo environment-->
 <launch>
   <!--Simulation arguments-->
   <arg name="world" value="$(find panda_gazebo)/resources/worlds/reach.world"/>
@@ -16,4 +16,4 @@
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
     <arg name="physics" value="$(arg physics)"/>
   </include>
-</launch>
+</launch>

panda_gazebo/launch/start_slide_world.launch

@@ -1,4 +1,4 @@
-<!-- Launch file for starting the grasp gazebo environment -->
+<!--Launch file for starting the grasp gazebo environment-->
 <launch>
   <!--Simulation arguments-->
   <arg name="world" value="$(find panda_gazebo)/resources/worlds/slide.world"/>
@@ -16,4 +16,4 @@
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
     <arg name="physics" value="$(arg physics)"/>
   </include>
-</launch>
+</launch>

panda_gazebo/launch/start_world.launch.xml

@@ -1,4 +1,4 @@
-<!-- Launch file for starting the empty gazebo environment -->
+<!--Launch file for starting the empty gazebo environment-->
 <launch>
   <!--Simulation arguments-->
   <arg name="world" default="$(find panda_gazebo)/resources/worlds/empty.world" doc="Path to the world file"/>
@@ -15,4 +15,4 @@
     <arg name="gui" value="$(arg gazebo_gui)"/>
     <arg name="physics" value="$(arg physics)"/>
   </include>
-</launch>
+</launch>