From 901e3a48bfe41cfb89380d6cb9c1115ed20c9967 Mon Sep 17 00:00:00 2001
From: "Felix Exner (fexner)" <exner@fzi.de>
Date: Wed, 19 Jun 2024 14:32:09 +0200
Subject: [PATCH] Fix launching without a tf_prefix specified (#1029)

* Make test without a tf_prefix actually not specify the tf_prefix to the launchfile

* Revert "Remove tf_prefix from ur_control.launch.py (#1020)"

tf_prefix is used as a substitution argument inside the controllers.yaml

Therefore, it needs to be specified as an argument for the ur_conttrol.launch.py file
---
 ur_robot_driver/launch/ur_control.launch.py | 11 +++++++++
 ur_robot_driver/test/test_common.py         | 25 ++++++++++++---------
 2 files changed, 25 insertions(+), 11 deletions(-)

diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index 7b108f20..461f1503 100644
--- a/ur_robot_driver/launch/ur_control.launch.py
+++ b/ur_robot_driver/launch/ur_control.launch.py
@@ -68,6 +68,8 @@ def launch_setup():
         parameters=[
             LaunchConfiguration("update_rate_config_file"),
             ParameterFile(controllers_file, allow_substs=True),
+            # We use the tf_prefix as substitution in there, so that's why we keep it as an
+            # argument for this launchfile
         ],
         output="screen",
     )
@@ -280,6 +282,15 @@ def generate_launch_description():
             "publishes the description topic.",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tf_prefix",
+            default_value="",
+            description="tf_prefix of the joint names, useful for "
+            "multi-robot setup. If changed, also joint names in the controllers' configuration "
+            "have to be updated.",
+        )
+    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "use_mock_hardware",
diff --git a/ur_robot_driver/test/test_common.py b/ur_robot_driver/test/test_common.py
index 435a20c3..4a0b2ad1 100644
--- a/ur_robot_driver/test/test_common.py
+++ b/ur_robot_driver/test/test_common.py
@@ -307,23 +307,26 @@ def generate_driver_test_description(
 ):
     ur_type = LaunchConfiguration("ur_type")
 
+    launch_arguments = {
+        "robot_ip": "192.168.56.101",
+        "ur_type": ur_type,
+        "launch_rviz": "false",
+        "controller_spawner_timeout": str(controller_spawner_timeout),
+        "initial_joint_controller": "scaled_joint_trajectory_controller",
+        "headless_mode": "true",
+        "launch_dashboard_client": "false",
+        "start_joint_controller": "false",
+    }
+    if tf_prefix:
+        launch_arguments["tf_prefix"] = tf_prefix
+
     robot_driver = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [FindPackageShare("ur_robot_driver"), "launch", "ur_control.launch.py"]
             )
         ),
-        launch_arguments={
-            "robot_ip": "192.168.56.101",
-            "ur_type": ur_type,
-            "launch_rviz": "false",
-            "controller_spawner_timeout": str(controller_spawner_timeout),
-            "initial_joint_controller": "scaled_joint_trajectory_controller",
-            "headless_mode": "true",
-            "launch_dashboard_client": "false",
-            "start_joint_controller": "false",
-            "tf_prefix": tf_prefix,
-        }.items(),
+        launch_arguments=launch_arguments.items(),
     )
     wait_dashboard_server = ExecuteProcess(
         cmd=[