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Remove mimic tags and rename sim_ignition to sim_gazebo #54

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merged 8 commits into from
Jul 18, 2024
Merged

Remove mimic tags and rename sim_ignition to sim_gazebo #54

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84248b6
Remove mimic tags and rename sim_ignition to sim_gazebo
sea-bass Jul 5, 2024
d6d863f
Removr command interfaces too
sea-bass Jul 5, 2024
ff29eca
Fix URDF in test now that mimic info is read from file
sea-bass Jul 5, 2024
84dfd50
Update ci-coverage-build.yml
sea-bass Jul 17, 2024
b82114d
Fix test
sea-bass Jul 18, 2024
cd345b6
Remove a whole bunch of unused imports
sea-bass Jul 18, 2024
61bc34a
Delete all the humble/iron CI checks from rolling branch
sea-bass Jul 18, 2024
2a735e6
Upgrade some actions
sea-bass Jul 18, 2024
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37 changes: 11 additions & 26 deletions robotiq_description/urdf/2f_140.ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
<xacro:macro name="robotiq_gripper_ros2_control" params="
name
prefix
sim_ignition:=false
sim_gazebo:=false
sim_isaac:=false
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
Expand All @@ -20,15 +20,15 @@
<param name="joint_commands_topic">${isaac_joint_commands}</param>
<param name="joint_states_topic">${isaac_joint_states}</param>
</xacro:if>
<xacro:if value="${sim_ignition}">
<xacro:if value="${sim_gazebo}">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</xacro:if>
<xacro:if value="${use_fake_hardware}">
<plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_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_fake_hardware or sim_gazebo or sim_isaac}">
<plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
<param name="gripper_closed_position">0.695</param>
<param name="COM_port">${com_port}</param>
Expand All @@ -38,7 +38,7 @@
</hardware>

<!-- Joint interfaces -->
<!-- With Ignition or Hardware, they handle mimic joints, so we only need this command interface activated -->
<!-- With Gazebo or Hardware, they handle mimic joints, so we only need this command interface activated -->
<joint name="${prefix}finger_joint">
<command_interface name="position" />
<state_interface name="position">
Expand All @@ -47,56 +47,41 @@
<state_interface name="velocity"/>
</joint>
<!-- When simulating we need to include the rest of the gripper joints -->
<xacro:if value="${use_fake_hardware or sim_isaac or sim_ignition}">
<xacro:if value="${use_fake_hardware or sim_isaac or sim_gazebo}">
<joint name="${prefix}left_inner_knuckle_joint">
<param name="mimic">${prefix}finger_joint</param>
<param name="multiplier">-1</param>
<xacro:unless value="${sim_ignition}">
<command_interface name="position"/>
<xacro:unless value="${sim_gazebo}">
<state_interface name="position"/>
<state_interface name="velocity"/>
</xacro:unless>
</joint>
<joint name="${prefix}left_inner_finger_joint">
<param name="mimic">${prefix}finger_joint</param>
<param name="multiplier">1</param>
<xacro:unless value="${sim_ignition}">
<command_interface name="position"/>
<xacro:unless value="${sim_gazebo}">
<state_interface name="position"/>
<state_interface name="velocity"/>
</xacro:unless>
</joint>
<joint name="${prefix}right_outer_knuckle_joint">
<param name="mimic">${prefix}finger_joint</param>
<param name="multiplier">-1</param>
<xacro:unless value="${sim_ignition}">
<command_interface name="position"/>
<xacro:unless value="${sim_gazebo}">
<state_interface name="position"/>
<state_interface name="velocity"/>
</xacro:unless>
</joint>
<joint name="${prefix}right_inner_knuckle_joint">
<param name="mimic">${prefix}finger_joint</param>
<param name="multiplier">-1</param>
<xacro:unless value="${sim_ignition}">
<command_interface name="position"/>
<xacro:unless value="${sim_gazebo}">
<state_interface name="position"/>
<state_interface name="velocity"/>
</xacro:unless>
</joint>
<joint name="${prefix}right_inner_finger_joint">
<param name="mimic">${prefix}finger_joint</param>
<param name="multiplier">1</param>
<xacro:unless value="${sim_ignition}">
<command_interface name="position"/>
<xacro:unless value="${sim_gazebo}">
<state_interface name="position"/>
<state_interface name="velocity"/>
</xacro:unless>
</joint>
</xacro:if>

<!-- Only add this with fake hardware mode -->
<xacro:unless value="${sim_ignition or sim_isaac}">
<xacro:unless value="${sim_gazebo or sim_isaac}">
<gpio name="reactivate_gripper">
<command_interface name="reactivate_gripper_cmd" />
<command_interface name="reactivate_gripper_response" />
Expand Down
37 changes: 11 additions & 26 deletions robotiq_description/urdf/2f_85.ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
<xacro:macro name="robotiq_gripper_ros2_control" params="
name
prefix
sim_ignition:=false
sim_gazebo:=false
sim_isaac:=false
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
Expand All @@ -25,15 +25,15 @@
<param name="joint_states_topic">${isaac_joint_states}</param>
<param name="trigger_joint_command_threshold">0.02</param>
</xacro:if>
<xacro:if value="${sim_ignition}">
<xacro:if value="${sim_gazebo}">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</xacro:if>
<xacro:if value="${use_fake_hardware}">
<plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware or sim_ignition or sim_isaac}">
<xacro:unless value="${use_fake_hardware or sim_gazebo or sim_isaac}">
<plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
<param name="gripper_closed_position">0.7929</param>
<param name="COM_port">${com_port}</param>
Expand All @@ -43,7 +43,7 @@
</hardware>

<!-- Joint interfaces -->
<!-- With Ignition or Hardware, they handle mimic joints, so we only need this command interface activated -->
<!-- With Gazebo or Hardware, they handle mimic joints, so we only need this command interface activated -->
<joint name="${prefix}robotiq_85_left_knuckle_joint">
<command_interface name="position" />
<state_interface name="position">
Expand All @@ -52,56 +52,41 @@
<state_interface name="velocity"/>
</joint>
<!-- When simulating we need to include the rest of the gripper joints -->
<xacro:if value="${use_fake_hardware or sim_isaac or sim_ignition}">
<xacro:if value="${use_fake_hardware or sim_isaac or sim_gazebo}">
<joint name="${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"/>
<xacro:unless value="${sim_gazebo}">
<state_interface name="position"/>
<state_interface name="velocity"/>
</xacro:unless>
</joint>
<joint name="${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"/>
<xacro:unless value="${sim_gazebo}">
<state_interface name="position"/>
<state_interface name="velocity"/>
</xacro:unless>
</joint>
<joint name="${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"/>
<xacro:unless value="${sim_gazebo}">
<state_interface name="position"/>
<state_interface name="velocity"/>
</xacro:unless>
</joint>
<joint name="${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"/>
<xacro:unless value="${sim_gazebo}">
<state_interface name="position"/>
<state_interface name="velocity"/>
</xacro:unless>
</joint>
<joint name="${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"/>
<xacro:unless value="${sim_gazebo}">
<state_interface name="position"/>
<state_interface name="velocity"/>
</xacro:unless>
</joint>
</xacro:if>

<!-- Only add this with fake hardware mode -->
<xacro:unless value="${sim_ignition or sim_isaac}">
<xacro:unless value="${sim_gazebo or sim_isaac}">
<gpio name="reactivate_gripper">
<command_interface name="reactivate_gripper_cmd" />
<command_interface name="reactivate_gripper_response" />
Expand Down
4 changes: 2 additions & 2 deletions robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
prefix
parent
*origin
sim_ignition:=false
sim_gazebo:=false
sim_isaac:=false
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
Expand All @@ -20,7 +20,7 @@
<xacro:if value="${include_ros2_control}">
<xacro:robotiq_gripper_ros2_control
name="${name}" prefix="${prefix}"
sim_ignition="${sim_ignition}"
sim_gazebo="${sim_gazebo}"
sim_isaac="${sim_isaac}"
isaac_joint_commands="${isaac_joint_commands}"
isaac_joint_states="${isaac_joint_states}"
Expand Down
4 changes: 2 additions & 2 deletions robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
prefix
parent
*origin
sim_ignition:=false
sim_gazebo:=false
sim_isaac:=false
isaac_joint_commands:=/isaac_joint_commands
isaac_joint_states:=/isaac_joint_states
Expand All @@ -20,7 +20,7 @@
<xacro:if value="${include_ros2_control}">
<xacro:robotiq_gripper_ros2_control
name="${name}" prefix="${prefix}"
sim_ignition="${sim_ignition}"
sim_gazebo="${sim_gazebo}"
sim_isaac="${sim_isaac}"
isaac_joint_commands="${isaac_joint_commands}"
isaac_joint_states="${isaac_joint_states}"
Expand Down
1 change: 0 additions & 1 deletion robotiq_driver/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,6 @@

<!-- Support for gtest and gmock-based tests in the ament buildsystem in CMake. -->
<test_depend>ament_cmake_gmock</test_depend>
<test_depend>ros2_control_test_assets</test_depend>

<export>
<build_type>ament_cmake</build_type>
Expand Down
5 changes: 1 addition & 4 deletions robotiq_driver/tests/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_gmock REQUIRED)
find_package(ament_lint_auto REQUIRED)
find_package(ros2_control_test_assets REQUIRED)

ament_lint_auto_find_test_dependencies()

Expand All @@ -21,9 +20,7 @@ target_include_directories(test_robotiq_gripper_hardware_interface
PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
)
target_link_libraries(test_robotiq_gripper_hardware_interface robotiq_driver)
ament_target_dependencies(test_robotiq_gripper_hardware_interface
ros2_control_test_assets
)
ament_target_dependencies(test_robotiq_gripper_hardware_interface)

###############################################################################
# test_default_serial_factory
Expand Down
52 changes: 30 additions & 22 deletions robotiq_driver/tests/test_robotiq_gripper_hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,9 +42,6 @@
#include <lifecycle_msgs/msg/state.hpp>
#include <rclcpp_lifecycle/state.hpp>

#include <ros2_control_test_assets/components_urdfs.hpp>
#include <ros2_control_test_assets/descriptions.hpp>

namespace robotiq_driver::test
{

Expand All @@ -54,27 +51,38 @@ namespace robotiq_driver::test
*/
TEST(TestRobotiqGripperHardwareInterface, load_urdf)
{
std::string urdf_control_ =
std::string urdf =
R"(
<ros2_control name="robotiq_driver_ros2_control" type="system">
<hardware>
<plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
<param name="gripper_speed_multiplier">1.0</param>
<param name="gripper_force_multiplier">0.5</param>
<param name="COM_port">/dev/ttyUSB0</param>
<param name="gripper_closed_position">0.7929</param>
</hardware>
<joint name="robotiq_85_left_knuckle_joint">
<command_interface name="position" />
<state_interface name="position">
<param name="initial_value">0.7929</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
)";
<?xml version="1.0" encoding="utf-8"?>
<robot name="test_robot">
<link name="robotiq_85_base_link"/>
<link name="robotiq_85_left_knuckle_link"/>
<joint name="robotiq_85_left_knuckle_joint" type="revolute">
<parent link="robotiq_85_base_link" />
<child link="robotiq_85_left_knuckle_link" />
<axis xyz="0 -1 0" />
<origin xyz="0.03060114 0.0 0.05490452" rpy="0 0 0" />
<limit lower="0.0" upper="0.8" velocity="0.5" effort="50" />
</joint>
<ros2_control name="robotiq_driver_ros2_control" type="system">
<hardware>
<plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
<param name="gripper_speed_multiplier">1.0</param>
<param name="gripper_force_multiplier">0.5</param>
<param name="COM_port">/dev/ttyUSB0</param>
<param name="gripper_closed_position">0.7929</param>
</hardware>
<joint name="robotiq_85_left_knuckle_joint">
<command_interface name="position" />
<state_interface name="position">
<param name="initial_value">0.7929</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</robot>
)";

auto urdf = ros2_control_test_assets::urdf_head + urdf_control_ + ros2_control_test_assets::urdf_tail;
hardware_interface::ResourceManager rm(urdf);

// Check interfaces
Expand Down
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