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Change submodule for a copy of URDF's with clear changes. (#152)
Change submodule for a copy of URDF's with clear changes. --------- Signed-off-by: Jelmer de Wolde <[email protected]>
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‎.github/workflows/reusable-workspace.yml‎

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steps:
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- name: checkout
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uses: actions/checkout@v4
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with:
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submodules: "true"
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- name: build workspace
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shell: bash -ieo pipefail {0}
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run: |

‎.gitmodules‎

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#
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# SPDX-License-Identifier: Apache-2.0
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[submodule "ros2_ws/src/franka_description"]
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path = ros2_ws/src/franka_description
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url = [email protected]:alliander-opensource/franka_description.git
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branch = main

‎dockerfiles/install_scripts/franka_ros2.sh‎

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set -e
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#Install ros2 franka: https://support.franka.de/docs/franka_ros2.html
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#Install ros2 franka: https://github.com/frankaemika/franka_ros2
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apt update
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apt install -y \
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ros-humble-angles \
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ros-humble-hardware-interface
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mkdir -p /home/$UNAME/franka_ws/src
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cd /home/$UNAME/franka_ws/src
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git clone -b v0.1.15 https://github.com/frankaemika/franka_ros2.git
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git clone -b 0.4.0 https://github.com/frankaemika/franka_description.git
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cd /home/$UNAME/franka_ws
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git clone https://github.com/frankaemika/franka_ros2.git src/franka_ros2
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cd /home/$UNAME/franka_ws/src/franka_ros2
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git checkout v0.1.15
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cd /home/$UNAME/franka_ws
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rosdep install --from-paths src --ignore-src --rosdistro humble -y
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source /home/$UNAME/.bashrc
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colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-ignore franka_ign_ros2_control
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colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-ignore franka_ign_ros2_control
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echo "source /home/$UNAME/franka_ws/install/setup.bash" >>/home/$UNAME/.bashrc

‎dockerfiles/rcdt_robotics.Dockerfile‎

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COPY ./install_scripts/franka_ros2.sh .
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RUN ./franka_ros2.sh
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ENV GZ_SIM_RESOURCE_PATH="$GZ_SIM_RESOURCE_PATH:/opt/ros/humble/share/"
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ENV GZ_SIM_RESOURCE_PATH="$GZ_SIM_RESOURCE_PATH:/home/$UNAME/franka_ws/src"
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COPY ./install_scripts/husarion_ugv_ros.sh .
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RUN ./husarion_ugv_ros.sh

‎docs/content/getting_started.md‎

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## Clone
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To use this repository, first clone it including the submodules. If you are a contributor with an SSH-key linked, clone via SSH:
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To use this repository, first clone it. If you are a contributor with an SSH-key linked, clone via SSH:
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```bash
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git clone --recurse-submodules [email protected]:alliander-opensource/rcdt_robotics.git
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git clone [email protected]:alliander-opensource/rcdt_robotics.git
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```
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If you only want to use the repository without contributing, you can clone via HTTP:
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```bash
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git clone --recurse-submodules https://github.com/alliander-opensource/rcdt_robotics.git
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```
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In case you cloned the repository, but forgot to pass the `--recurse-submodules` flag, this can be fixed by running:
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```bash
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git submodule update --init --recursive
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git clone https://github.com/alliander-opensource/rcdt_robotics.git
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```
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## Run the container

‎ros2_ws/src/franka_description‎

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‎ros2_ws/src/rcdt_franka/config/simulation_controllers.yaml‎

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#
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# SPDX-License-Identifier: Apache-2.0
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controller_manager:
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ros__parameters:
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update_rate: 1000
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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fr3_arm_controller:
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ros__parameters:
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type: joint_trajectory_controller/JointTrajectoryController

‎ros2_ws/src/rcdt_franka/launch/core.launch.py‎

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xacro_path = get_file_path("rcdt_franka", ["urdf"], "franka.urdf.xacro")
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xacro_arguments = {}
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xacro_arguments["robot_ip"] = "172.16.0.2"
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xacro_arguments["gazebo"] = "true" if use_sim else "false"
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xacro_arguments["simulation"] = "true" if use_sim else "false"
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xacro_arguments["load_realsense"] = "true" if use_realsense else "false"
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robot_description = get_robot_description(xacro_path, xacro_arguments)
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‎ros2_ws/src/rcdt_franka/urdf/adapted/franka_arm.ros2_control.xacro‎

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<?xml version="1.0"?>
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<!--
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Based on:
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https://github.com/frankaemika/franka_description/blob/0.4.0/robots/common/franka_arm.ros2_control.xacro
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A copy of the original file is located in the /original directory.
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To compare the two files in VSCode, see:
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https://code.visualstudio.com/docs/editing/codebasics#_compare-files
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-->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="franka_arm_ros2_control"
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params="arm_id
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robot_ip
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use_fake_hardware:=^|false
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fake_sensor_commands:=^|false
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gazebo:=^|false
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hand:=^|false
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gazebo_effort:=^|false
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arm_prefix:=''
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multi_arm:=false
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namespace:=''">
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<xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
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<ros2_control name="${arm_prefix_modified}FrankaHardwareInterface" type="system">
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<hardware>
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<param name="arm_id">${arm_id}</param>
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<param name="prefix">${arm_prefix}</param>
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<xacro:if value="${use_fake_hardware}">
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<plugin>fake_components/GenericSystem</plugin>
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<param name="fake_sensor_commands">${fake_sensor_commands}</param>
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<param name="state_following_offset">0.0</param>
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</xacro:if>
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<xacro:if value="${gazebo}">
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<plugin>ign_ros2_control/IgnitionSystem</plugin>
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</xacro:if>
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<xacro:if value="${use_fake_hardware == 0 and gazebo == 0 and multi_arm == 0}">
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<plugin>franka_hardware/FrankaHardwareInterface</plugin>
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<param name="robot_ip">${robot_ip}</param>
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<param name="arm_prefix">${arm_prefix}</param>
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</xacro:if>
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<xacro:if value="${use_fake_hardware == 0 and gazebo == 0 and multi_arm == 1}">
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<plugin>franka_hardware/MultiFrankaHardwareInterface</plugin>
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<param name="robot_ip">${robot_ip}</param>
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<param name="arm_prefix">${arm_prefix}</param>
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</xacro:if>
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</hardware>
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<xacro:macro name="configure_joint" params="joint_name initial_position">
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<joint name="${joint_name}">
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<!--
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deactivated for gazebo velocity and position interface due to a bug
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https://github.com/ros-controls/gz_ros2_control/issues/343
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Command Interfaces -->
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<xacro:if value="${multi_arm == 0}">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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</xacro:if>
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<xacro:if value="${gazebo == 0 or gazebo_effort == 1}">
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<command_interface name="effort"/>
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</xacro:if>
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<!-- State Interfaces -->
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<state_interface name="position">
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<param name="initial_value">${initial_position}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<param name="initial_value">0.0</param>
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<state_interface name="effort"/>
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</joint>
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</xacro:macro>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint1" initial_position="0.0"/>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint2" initial_position="${-pi/4}"/>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint3" initial_position="0.0"/>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint4" initial_position="${-3*pi/4}"/>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint5" initial_position="0.0"/>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint6" initial_position="${pi/2}"/>
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<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint7" initial_position="${pi/4}"/>
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<xacro:if value="${gazebo and hand}">
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<xacro:configure_joint joint_name="${arm_id}_finger_joint1" initial_position="0.0" />
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<!-- Add finger_joint2, required when controlling gripper in simulation: -->
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<joint name="${arm_id}_finger_joint2">
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<param name="mimic">${arm_id}_finger_joint1</param>
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<param name="multiplier">1</param>
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</joint>
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</xacro:if>
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</ros2_control>
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<xacro:if value="${gazebo}">
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<gazebo>
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<plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
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<parameters>$(find rcdt_franka)/config/simulation_controllers.yaml</parameters>
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<ros>
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<namespace>${namespace}</namespace>
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<xacro:include filename="$(find rcdt_gazebo)/urdf/remappings.urdf.xacro" />
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<xacro:remappings />
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</ros>
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</plugin>
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</gazebo>
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</xacro:if>
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</xacro:macro>
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</robot>

‎ros2_ws/src/rcdt_franka/urdf/adapted/franka_arm.ros2_control.xacro.license‎

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SPDX-FileCopyrightText: Alliander N. V.
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SPDX-License-Identifier: Apache-2.0

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