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Enabling non-namespace use of Gazebo robot #187

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Enabling non-namespace use of Gazebo robot #187

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86a30d1
Add 'ns' argument to allow specifying the robotNamespace for Gazebo
rhaschke Oct 25, 2021
25ed4dd
Allow starting the Gazebo robot w/ and w/o a namespace.
rhaschke Oct 27, 2021
daaad8b
Use arm_id prefix for all nodes
rhaschke Oct 28, 2021
7480802
Avoid redundancy in node naming
rhaschke Oct 28, 2021
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4 changes: 2 additions & 2 deletions franka_description/robots/dual_panda_example.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -26,11 +26,11 @@
</link>

<!-- right arm with gripper -->
<xacro:panda_arm arm_id="$(arg arm_id_1)" connected_to="base" xyz="0 -0.5 1" safety_distance="0.03"/>
<xacro:panda_arm arm_id="$(arg arm_id_1)" ns="$(arg arm_id_1)" connected_to="base" xyz="0 -0.5 1" safety_distance="0.03" />
<xacro:hand ns="$(arg arm_id_1)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_1)_link8" safety_distance="0.03"/>

<!-- left arm with gripper -->
<xacro:panda_arm arm_id="$(arg arm_id_2)" connected_to="base" xyz="0 0.5 1" safety_distance="0.03"/>
<xacro:panda_arm arm_id="$(arg arm_id_2)" ns="$(arg arm_id_2)" connected_to="base" xyz="0 0.5 1" safety_distance="0.03" />
<xacro:hand ns="$(arg arm_id_2)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_2)_link8" safety_distance="0.03"/>

</robot>
4 changes: 3 additions & 1 deletion franka_description/robots/panda_arm.urdf.xacro
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Expand Up @@ -7,6 +7,8 @@
<xacro:arg name="hand" default="false" />
<!-- Is the robot being simulated in gazebo?" -->
<xacro:arg name="gazebo" default="false" />
<!-- Namespace of robot in Gazebo/ROS (default: empty) -->
<xacro:arg name="ns" default="" />

<xacro:unless value="$(arg gazebo)">
<!-- Create a URDF for a real hardware -->
Expand Down Expand Up @@ -61,7 +63,7 @@

<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>$(arg arm_id)</robotNamespace>
<robotNamespace>$(arg ns)</robotNamespace>
<controlPeriod>0.001</controlPeriod>
<robotSimType>franka_gazebo/FrankaHWSim</robotSimType>
</plugin>
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63 changes: 4 additions & 59 deletions franka_gazebo/launch/panda.launch
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@@ -1,5 +1,6 @@
<?xml version="1.0"?>
<launch>
<arg name="ns" default="" doc="Namespace to launch the Gazebo robot in" />

<!-- Gazebo & GUI Configuration -->
<arg name="gazebo" default="true" doc="Should the gazebo simulation be launched? Use false in case if you want to include this file and launch gazebo yourself" />
Expand Down Expand Up @@ -37,66 +38,10 @@
<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>

<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)" />

<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"
/>

<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>

<!-- 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>
<!-- Depending on whether the namespace is empty or not, don't start in a namespace (or do) -->
<include file="$(dirname)/panda_ns.launch.xml" pass_all_args="true" if="$(eval arg('ns') == '')" />
<include file="$(dirname)/panda_ns.launch.xml" pass_all_args="true" if="$(eval arg('ns') != '')" ns="$(arg ns)" />

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

Expand Down
71 changes: 71 additions & 0 deletions franka_gazebo/launch/panda_ns.launch.xml
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@@ -0,0 +1,71 @@
<?xml version="1.0"?>
<launch>

<!-- This is a helper launch file for panda.launch
As roslaunch doesn't allow for empty ns arguments and to avoid code duplication,
we factored out code here that should run either in or out a namespace.
All arguments are simply inherited from the parent launch file.
-->
<param name="robot_description"
command="xacro $(find franka_description)/robots/panda_arm.urdf.xacro
gazebo:=true
hand:=$(arg use_gripper)
arm_id:=$(arg arm_id)
ns:=$(arg ns)
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" />

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

<!-- Avoid node names of the form arm_id/arm_id_xxx. Use arm_id/xxx instead. -->
<arg name="node_prefix" value="$(eval '' if arg('ns') == arg('arm_id') else arg('arm_id') + '_')" />

<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
<node name="$(arg node_prefix)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="$(arg node_prefix)gripper_spawner"
if="$(arg use_gripper)"
args="franka_gripper"
respawn="false"
/>

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

<node name="$(arg node_prefix)robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="$(arg node_prefix)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="$(arg node_prefix)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="$(arg node_prefix)cartesian_goal_marker"
pkg="franka_example_controllers"
type="interactive_marker.py"
if="$(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>

</launch>