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Add flag to disable platform controllers for manipulation controller …
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@luis-camero
luis-camero committed Jan 9, 2025
1 parent 4e8e0b3 commit 93040a7
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Showing 3 changed files with 67 additions and 60 deletions.
63 changes: 33 additions & 30 deletions clearpath_platform_description/urdf/do100/do100.urdf.xacro
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<xacro:arg name="namespace" default="" />
<xacro:arg name="is_sim" default="false" />
<xacro:arg name="gazebo_controllers" default="$(find clearpath_control)/config/do100/control.yaml"/>
<xacro:arg name="use_platform_controllers" default="true"/>

<!-- Included URDF/Xacro Files -->
<xacro:include filename="$(find clearpath_platform_description)/urdf/do100/wheels/wheel.urdf.xacro"/>
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<xacro:include filename="$(find clearpath_platform_description)/urdf/generic/gazebo.urdf.xacro"/>

<!-- ROS2 controls -->
<ros2_control name="do100_hardware" type="system">
<hardware>
<xacro:if value="$(arg is_sim)">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</xacro:if>
<xacro:unless value="$(arg is_sim)">
<plugin>clearpath_hardware_interfaces/PumaHardware</plugin>
</xacro:unless>
</hardware>
<joint name="front_left_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="front_right_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="rear_left_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="rear_right_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
<xacro:if value="$(arg use_platform_controllers)">
<ros2_control name="do100_hardware" type="system">
<hardware>
<xacro:if value="$(arg is_sim)">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</xacro:if>
<xacro:unless value="$(arg is_sim)">
<plugin>clearpath_hardware_interfaces/PumaHardware</plugin>
</xacro:unless>
</hardware>
<joint name="front_left_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="front_right_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="rear_left_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="rear_right_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</xacro:if>
</xacro:macro>

<!-- Joint State Publisher -->
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1 change: 1 addition & 0 deletions clearpath_platform_description/urdf/do150/do150.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
<xacro:arg name="namespace" default="" />
<xacro:arg name="is_sim" default="false" />
<xacro:arg name="gazebo_controllers" default="$(find clearpath_control)/config/do150/control.yaml"/>
<xacro:arg name="use_platform_controllers" default="true"/>

<!-- Included URDF/Xacro Files -->
<xacro:include filename="$(find clearpath_platform_description)/urdf/do100/do100.urdf.xacro"/>
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63 changes: 33 additions & 30 deletions clearpath_platform_description/urdf/r100/r100.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
<xacro:arg name="namespace" default="" />
<xacro:arg name="is_sim" default="false" />
<xacro:arg name="gazebo_controllers" default="$(find clearpath_control)/config/r100/control.yaml"/>
<xacro:arg name="use_platform_controllers" default="true"/>

<!-- Includes -->
<xacro:include filename="$(find clearpath_platform_description)/urdf/r100/wheels/wheel.urdf.xacro"/>
Expand Down Expand Up @@ -296,36 +297,38 @@
<xacro:include filename="$(find clearpath_platform_description)/urdf/generic/gazebo.urdf.xacro"/>

<!-- ROS2 controls -->
<ros2_control name="r100_hardware" type="system">
<hardware>
<xacro:if value="$(arg is_sim)">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</xacro:if>
<xacro:unless value="$(arg is_sim)">
<plugin>clearpath_hardware_interfaces/PumaHardware</plugin>
</xacro:unless>
</hardware>
<joint name="front_left_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="front_right_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="rear_left_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="rear_right_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
<xacro:if value="$(arg use_platform_controllers)">
<ros2_control name="r100_hardware" type="system">
<hardware>
<xacro:if value="$(arg is_sim)">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</xacro:if>
<xacro:unless value="$(arg is_sim)">
<plugin>clearpath_hardware_interfaces/PumaHardware</plugin>
</xacro:unless>
</hardware>
<joint name="front_left_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="front_right_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="rear_left_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="rear_right_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</xacro:if>

</xacro:macro>
</robot>

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