From c40f888e5b7f88d088450bffbc71f50ae861790a Mon Sep 17 00:00:00 2001 From: Abed Al Rahman Al Mrad Date: Mon, 6 Jan 2025 11:46:43 -0500 Subject: [PATCH] Minor modifications --- README.md | 4 ++-- kortex_bringup/launch/gen3_lite.launch.py | 2 +- kortex_bringup/launch/kortex_sim_control.launch.py | 6 +++--- .../arms/gen3_lite/6dof/config/ros2_controllers.yaml | 4 ++-- ros2_kortex.humble.repos | 4 ++++ 5 files changed, 12 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index bda52628..7fa8c12a 100644 --- a/README.md +++ b/README.md @@ -215,7 +215,7 @@ You can specify the following arguments if you wish to change your arm configura * `robot_type`: Your robot model. Default value (and only one) is `gen3`. -* `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85`, `robotiq_2f_140` or `""`. Default is `robotiq_2f_85`. An empty string will not initialise any gripper. +* `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85`, `robotiq_2f_140` or `""`. Default is `""`. An empty string will not initialise any gripper. * `gripper_joint_name` : Name of the controlled joint of the gripper attached to the arm. Default value is `robotiq_85_left_knuckle_joint`. @@ -325,7 +325,7 @@ ros2 launch kortex_bringup kortex_sim_control.launch.py \ * `description_file` : URDF/XACRO description file with the robot. Default value is `kinova.urdf.xacro`. * `prefix` : Prefix of the joint names, useful for multi-robot setup. If changed, then also joint names in the controllers' configuration have to be updated. Default value is `""` (none). * `use_sim_time` : Use simulated clock. Default value is `true`. -* `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85`, `robotiq_2f_140` or `""`. Default is `robotiq_2f_85`. An empty string will not initialise any gripper. +* `gripper` : Gripper to use. Possible values for the Gen3 are: `robotiq_2f_85`, `robotiq_2f_140`, `""` and `gen3_lite_2f`. Default is `robotiq_2f_85`. An empty string will not initialise any gripper. #### MoveIt2 diff --git a/kortex_bringup/launch/gen3_lite.launch.py b/kortex_bringup/launch/gen3_lite.launch.py index 5eb1d3d4..844114db 100644 --- a/kortex_bringup/launch/gen3_lite.launch.py +++ b/kortex_bringup/launch/gen3_lite.launch.py @@ -61,7 +61,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "robot_controller", - default_value="gen3_lite_joint_trajectory_controller", + default_value="joint_trajectory_controller", description="Robot controller to start.", ) ) diff --git a/kortex_bringup/launch/kortex_sim_control.launch.py b/kortex_bringup/launch/kortex_sim_control.launch.py index e33034f6..32c1b21e 100644 --- a/kortex_bringup/launch/kortex_sim_control.launch.py +++ b/kortex_bringup/launch/kortex_sim_control.launch.py @@ -369,7 +369,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "robot_controller", - default_value="gen3_lite_joint_trajectory_controller", + default_value="joint_trajectory_controller", description="Robot controller to start.", ) ) @@ -404,8 +404,8 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "gripper", - default_value="robotiq_2f_85", - choices=["robotiq_2f_85", "robotiq_2f_140", "gen3_lite_2f"], + default_value="", + choices=["robotiq_2f_85", "robotiq_2f_140", "gen3_lite_2f", ""], description="Gripper to use", ) ) diff --git a/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml b/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml index b1dbf1e6..665c9c3c 100644 --- a/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml +++ b/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml @@ -5,7 +5,7 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - gen3_lite_joint_trajectory_controller: + joint_trajectory_controller: type: joint_trajectory_controller/JointTrajectoryController twist_controller: @@ -17,7 +17,7 @@ controller_manager: gen3_lite_2f_gripper_controller: type: position_controllers/GripperActionController -gen3_lite_joint_trajectory_controller: +joint_trajectory_controller: ros__parameters: joints: - joint_1 diff --git a/ros2_kortex.humble.repos b/ros2_kortex.humble.repos index da520577..f15cacc1 100644 --- a/ros2_kortex.humble.repos +++ b/ros2_kortex.humble.repos @@ -15,3 +15,7 @@ repositories: type: git url: https://github.com/picknikrobotics/ros2_robotiq_gripper.git version: b6136bdc866a929bfb096890ca61dde1335ffd30 + realtime_tools: + type: git + url: https://github.com/ros-controls/realtime_tools/tree/humble + version: humble \ No newline at end of file