From 929bafc4cd3d4b922e2061e4b110f3a2bbecb95f Mon Sep 17 00:00:00 2001
From: rickstaa <rick.staa@outlook.com>
Date: Mon, 23 Aug 2021 17:55:15 +0200
Subject: [PATCH 1/4] Adds the 'transmission' arg to the 'panda_arm.urdf.xacro'
 file

This commit gives users the ability to set the hardware_interface that
is used in the panda arm joints when loading the 'panda_arm.urdf.xacro'
file.
---
 .../robots/panda_arm.urdf.xacro               | 27 ++++++++++---------
 1 file changed, 14 insertions(+), 13 deletions(-)

diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro
index 2e663d713..4589a54ad 100644
--- a/franka_description/robots/panda_arm.urdf.xacro
+++ b/franka_description/robots/panda_arm.urdf.xacro
@@ -1,12 +1,13 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
 
-  <!-- Name of this panda -->
-  <xacro:arg name="arm_id" default="panda" />
-  <!-- Should a franka_gripper be mounted at the flange?" -->
-  <xacro:arg name="hand" default="false" />
-  <!-- Is the robot being simulated in gazebo?" -->
-  <xacro:arg name="gazebo" default="false" />
+  <xacro:arg name="arm_id" default="panda" /> <!-- Name of this panda -->
+  <xacro:arg name="hand"   default="false" /> <!-- Should a franka_gripper be mounted at the flange?" -->
+  <xacro:arg name="gazebo" default="false" /> <!-- Is the robot being simulated in gazebo?" -->
+  <xacro:arg name="transmission" default="hardware_interface/EffortJointInterface" /> <!-- The transmission that is used in the gazebo joints -->
+
+  <xacro:property name="arm_id" value="$(arg arm_id)" />
+  <xacro:property name="transmission" value="$(arg transmission)" />
 
   <xacro:unless value="$(arg gazebo)">
     <!-- Create a URDF for a real hardware -->
@@ -45,13 +46,13 @@
     </joint>
 
 
-    <xacro:gazebo-joint joint="$(arg arm_id)_joint1" transmission="hardware_interface/EffortJointInterface" />
-    <xacro:gazebo-joint joint="$(arg arm_id)_joint2" transmission="hardware_interface/EffortJointInterface" />
-    <xacro:gazebo-joint joint="$(arg arm_id)_joint3" transmission="hardware_interface/EffortJointInterface" />
-    <xacro:gazebo-joint joint="$(arg arm_id)_joint4" transmission="hardware_interface/EffortJointInterface" />
-    <xacro:gazebo-joint joint="$(arg arm_id)_joint5" transmission="hardware_interface/EffortJointInterface" />
-    <xacro:gazebo-joint joint="$(arg arm_id)_joint6" transmission="hardware_interface/EffortJointInterface" />
-    <xacro:gazebo-joint joint="$(arg arm_id)_joint7" transmission="hardware_interface/EffortJointInterface" />
+    <xacro:gazebo-joint joint="${arm_id}_joint1" transmission="${transmission}" />
+    <xacro:gazebo-joint joint="${arm_id}_joint2" transmission="${transmission}" />
+    <xacro:gazebo-joint joint="${arm_id}_joint3" transmission="${transmission}" />
+    <xacro:gazebo-joint joint="${arm_id}_joint4" transmission="${transmission}" />
+    <xacro:gazebo-joint joint="${arm_id}_joint5" transmission="${transmission}" />
+    <xacro:gazebo-joint joint="${arm_id}_joint6" transmission="${transmission}" />
+    <xacro:gazebo-joint joint="${arm_id}_joint7" transmission="${transmission}" />
 
     <xacro:transmission-franka-state arm_id="$(arg arm_id)" />
     <xacro:transmission-franka-model arm_id="$(arg arm_id)"

From fabfda5268079299e14af4574e80e80a3688bb00 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 27 Oct 2021 18:15:46 +0200
Subject: [PATCH 2/4] Allow short transmission argument: position, velocity, or
 effort

Automatically translate into full name, e.g. hardware_interface/PositionJointInterface
---
 .../robots/panda_arm.urdf.xacro               | 25 ++++++++++++-------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro
index 4589a54ad..9caa30b1b 100644
--- a/franka_description/robots/panda_arm.urdf.xacro
+++ b/franka_description/robots/panda_arm.urdf.xacro
@@ -4,10 +4,10 @@
   <xacro:arg name="arm_id" default="panda" /> <!-- Name of this panda -->
   <xacro:arg name="hand"   default="false" /> <!-- Should a franka_gripper be mounted at the flange?" -->
   <xacro:arg name="gazebo" default="false" /> <!-- Is the robot being simulated in gazebo?" -->
-  <xacro:arg name="transmission" default="hardware_interface/EffortJointInterface" /> <!-- The transmission that is used in the gazebo joints -->
+  <!-- The transmission type that is used to control arm joints in gazebo: position, velocity, or effort -->
+  <xacro:arg name="transmission" default="effort" />
 
   <xacro:property name="arm_id" value="$(arg arm_id)" />
-  <xacro:property name="transmission" value="$(arg transmission)" />
 
   <xacro:unless value="$(arg gazebo)">
     <!-- Create a URDF for a real hardware -->
@@ -46,13 +46,20 @@
     </joint>
 
 
-    <xacro:gazebo-joint joint="${arm_id}_joint1" transmission="${transmission}" />
-    <xacro:gazebo-joint joint="${arm_id}_joint2" transmission="${transmission}" />
-    <xacro:gazebo-joint joint="${arm_id}_joint3" transmission="${transmission}" />
-    <xacro:gazebo-joint joint="${arm_id}_joint4" transmission="${transmission}" />
-    <xacro:gazebo-joint joint="${arm_id}_joint5" transmission="${transmission}" />
-    <xacro:gazebo-joint joint="${arm_id}_joint6" transmission="${transmission}" />
-    <xacro:gazebo-joint joint="${arm_id}_joint7" transmission="${transmission}" />
+    <xacro:property name="transmission" value="$(arg transmission)" />
+    <!-- sanity check -->
+    <xacro:if value="${transmission.lower() not in ['position', 'velocity', 'effort']}" >
+      ${xacro.fatal("transmission:=" + transmission + " is not one of position, velocity, or effort")}
+    </xacro:if>
+    <!-- Unify transmission argument into title case and expand to full name -->
+    <xacro:property name="transmission" value="hardware_interface/${transmission.title()}JointInterface" lazy_eval="false" />
+    <xacro:gazebo-joint joint="$(arg arm_id)_joint1" transmission="${transmission}" />
+    <xacro:gazebo-joint joint="$(arg arm_id)_joint2" transmission="${transmission}" />
+    <xacro:gazebo-joint joint="$(arg arm_id)_joint3" transmission="${transmission}" />
+    <xacro:gazebo-joint joint="$(arg arm_id)_joint4" transmission="${transmission}" />
+    <xacro:gazebo-joint joint="$(arg arm_id)_joint5" transmission="${transmission}" />
+    <xacro:gazebo-joint joint="$(arg arm_id)_joint6" transmission="${transmission}" />
+    <xacro:gazebo-joint joint="$(arg arm_id)_joint7" transmission="${transmission}" />
 
     <xacro:transmission-franka-state arm_id="$(arg arm_id)" />
     <xacro:transmission-franka-model arm_id="$(arg arm_id)"

From 850249261a3a43c9c87e8fe40fbfb825458fbee4 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 27 Oct 2021 19:49:12 +0200
Subject: [PATCH 3/4] Expose transmission argument in
 franka_gazebo/panda.launch

---
 franka_description/robots/panda_arm.urdf.xacro | 11 ++++++-----
 franka_gazebo/launch/panda.launch              |  2 ++
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro
index 9caa30b1b..f2a77d219 100644
--- a/franka_description/robots/panda_arm.urdf.xacro
+++ b/franka_description/robots/panda_arm.urdf.xacro
@@ -1,14 +1,15 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
 
-  <xacro:arg name="arm_id" default="panda" /> <!-- Name of this panda -->
-  <xacro:arg name="hand"   default="false" /> <!-- Should a franka_gripper be mounted at the flange?" -->
-  <xacro:arg name="gazebo" default="false" /> <!-- Is the robot being simulated in gazebo?" -->
+  <!-- Name of this panda -->
+  <xacro:arg name="arm_id" default="panda" />
+  <!-- Should a franka_gripper be mounted at the flange?" -->
+  <xacro:arg name="hand" default="false" />
+  <!-- Is the robot being simulated in gazebo?" -->
+  <xacro:arg name="gazebo" default="false" />
   <!-- The transmission type that is used to control arm joints in gazebo: position, velocity, or effort -->
   <xacro:arg name="transmission" default="effort" />
 
-  <xacro:property name="arm_id" value="$(arg arm_id)" />
-
   <xacro:unless value="$(arg gazebo)">
     <!-- Create a URDF for a real hardware -->
     <xacro:include filename="$(find franka_description)/robots/panda_arm.xacro" />
diff --git a/franka_gazebo/launch/panda.launch b/franka_gazebo/launch/panda.launch
index 8090742b5..ffd000e0b 100644
--- a/franka_gazebo/launch/panda.launch
+++ b/franka_gazebo/launch/panda.launch
@@ -11,6 +11,7 @@
   <!-- Robot Customization -->
   <arg name="arm_id"      default="panda" doc="Name of the panda robot to spawn" />
   <arg name="use_gripper" default="true"  doc="Should a franka hand be mounted on the flange?" />
+  <arg name="transmission" default="effort" doc="Transmission type used for arm joints. One of position, velocity, effort." />
   <arg name="controller"  default=" "     doc="Which example controller should be started? (One of {cartesian_impedance,model,force}_example_controller)" />
   <arg name="x"           default="0"     doc="How far forward to place the base of the robot in [m]?" />
   <arg name="y"           default="0"     doc="How far leftwards to place the base of the robot in [m]?" />
@@ -43,6 +44,7 @@
          command="xacro $(find franka_description)/robots/panda_arm.urdf.xacro
                   gazebo:=true
                   hand:=$(arg use_gripper)
+                  transmission:=$(arg transmission)
                   arm_id:=$(arg arm_id)
                   xyz:='$(arg x) $(arg y) $(arg z)'
                   rpy:='$(arg roll) $(arg pitch) $(arg yaw)'">

From 1cc9431ea3705f9023bb095f08cc9e8cfa24cbd9 Mon Sep 17 00:00:00 2001
From: rickstaa <rick.staa@outlook.com>
Date: Thu, 25 Nov 2021 22:15:51 +0100
Subject: [PATCH 4/4] fix: fix conflict with #181

This commit fixes a unhandeled conflict that is created when both #181
and #157 are merged.
---
 franka_gazebo/launch/panda.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/franka_gazebo/launch/panda.launch b/franka_gazebo/launch/panda.launch
index ffd000e0b..4be9d9e07 100644
--- a/franka_gazebo/launch/panda.launch
+++ b/franka_gazebo/launch/panda.launch
@@ -11,8 +11,8 @@
   <!-- Robot Customization -->
   <arg name="arm_id"      default="panda" doc="Name of the panda robot to spawn" />
   <arg name="use_gripper" default="true"  doc="Should a franka hand be mounted on the flange?" />
-  <arg name="transmission" default="effort" doc="Transmission type used for arm joints. One of position, velocity, effort." />
   <arg name="controller"  default=" "     doc="Which example controller should be started? (One of {cartesian_impedance,model,force}_example_controller)" />
+  <arg name="transmission" default="effort" doc="Transmission type used for arm joints. One of position, velocity, effort." />
   <arg name="x"           default="0"     doc="How far forward to place the base of the robot in [m]?" />
   <arg name="y"           default="0"     doc="How far leftwards to place the base of the robot in [m]?" />
   <arg name="z"           default="0"     doc="How far upwards to place the base of the robot in [m]?" />