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Updated for primary client improvement #576

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Updated for primary client improvement #576

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11 changes: 11 additions & 0 deletions ur_bringup/launch/ur_control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ def launch_setup(context, *args, **kwargs):
activate_joint_controller = LaunchConfiguration("activate_joint_controller")
launch_rviz = LaunchConfiguration("launch_rviz")
headless_mode = LaunchConfiguration("headless_mode")
simulated_robot = LaunchConfiguration("simulated_robot")
launch_dashboard_client = LaunchConfiguration("launch_dashboard_client")
use_tool_communication = LaunchConfiguration("use_tool_communication")
tool_parity = LaunchConfiguration("tool_parity")
Expand Down Expand Up @@ -145,6 +146,9 @@ def launch_setup(context, *args, **kwargs):
"headless_mode:=",
headless_mode,
" ",
"simulated_robot:=",
simulated_robot,
" ",
"use_tool_communication:=",
use_tool_communication,
" ",
Expand Down Expand Up @@ -449,6 +453,13 @@ def generate_launch_description():
description="Enable headless mode for robot control",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"simulated_robot",
default_value="false",
description="Determine whether robot is simulated or real",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
Expand Down
11 changes: 11 additions & 0 deletions ur_robot_driver/launch/ur_control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ def launch_setup(context, *args, **kwargs):
activate_joint_controller = LaunchConfiguration("activate_joint_controller")
launch_rviz = LaunchConfiguration("launch_rviz")
headless_mode = LaunchConfiguration("headless_mode")
simulated_robot = LaunchConfiguration("simulated_robot")
launch_dashboard_client = LaunchConfiguration("launch_dashboard_client")
use_tool_communication = LaunchConfiguration("use_tool_communication")
tool_parity = LaunchConfiguration("tool_parity")
Expand Down Expand Up @@ -145,6 +146,9 @@ def launch_setup(context, *args, **kwargs):
"headless_mode:=",
headless_mode,
" ",
"simulated_robot:=",
simulated_robot,
" ",
"use_tool_communication:=",
use_tool_communication,
" ",
Expand Down Expand Up @@ -441,6 +445,13 @@ def generate_launch_description():
description="Enable headless mode for robot control",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"simulated_robot",
default_value="false",
description="Determine whether the robot is simulated or real",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
Expand Down
17 changes: 4 additions & 13 deletions ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -377,10 +377,13 @@ URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::State& previous
RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Initializing driver...");
registerUrclLogHandler();
try {
bool simulated_robot = false;
simulated_robot = (info_.hardware_parameters["simulated_robot"] == "true") ||
(info_.hardware_parameters["simulated_robot"] == "True");
ur_driver_ = std::make_unique<urcl::UrDriver>(
robot_ip, script_filename, output_recipe_filename, input_recipe_filename,
std::bind(&URPositionHardwareInterface::handleRobotProgramState, this, std::placeholders::_1), headless_mode,
std::move(tool_comm_setup), (uint32_t)reverse_port, (uint32_t)script_sender_port, servoj_gain,
std::move(tool_comm_setup), calibration_checksum, simulated_robot, (uint32_t)reverse_port, (uint32_t)script_sender_port, servoj_gain,
servoj_lookahead_time, non_blocking_read_);
} catch (urcl::ToolCommNotAvailable& e) {
RCLCPP_FATAL_STREAM(rclcpp::get_logger("URPositionHardwareInterface"), "See parameter use_tool_communication");
Expand All @@ -394,18 +397,6 @@ URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::State& previous
calibration_checksum.c_str());
// check calibration
// https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/c3378599d5fa73a261328b326392e847f312ab6b/ur_robot_driver/src/hardware_interface.cpp#L296-L309
if (ur_driver_->checkCalibration(calibration_checksum)) {
RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Calibration checked successfully.");
} else {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("URPositionHardwareInterface"),

"The calibration parameters of the connected robot don't match the ones from the given "
"kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp "
"positions. Use the ur_calibration tool to extract the correct calibration from the robot and "
"pass that into the description. See "
"[https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_calibration/"
"README.md] for details.");
}

ur_driver_->startRTDECommunication();

Expand Down
1 change: 1 addition & 0 deletions ur_robot_driver/test/robot_driver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,7 @@ def generate_test_description():
"launch_rviz": "false",
"initial_joint_controller": "scaled_joint_trajectory_controller",
"headless_mode": "true",
"simulated_robot": "true",
"launch_dashboard_client": "false",
"start_joint_controller": "false",
}.items(),
Expand Down