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Add option to use mock hardware #12

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merged 4 commits into from
Jan 5, 2025
Merged

Add option to use mock hardware #12

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3c99419
Add support for mock_components
RobertWilbrandt Jan 5, 2025
a660b6c
Add initial position config file for mock hardware
RobertWilbrandt Jan 5, 2025
353611e
Add mock hardware to test matrix
RobertWilbrandt Jan 5, 2025
aeec26b
Remove incorrect dependency
RobertWilbrandt Jan 5, 2025
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6 changes: 6 additions & 0 deletions kuka_rsi_driver/config/initial_positions.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
joint_a1: 0.0
joint_a2: -1.5708
joint_a3: 1.5708
joint_a4: 0.0
joint_a5: 0.0
joint_a6: 0.0
13 changes: 13 additions & 0 deletions kuka_rsi_driver/launch/test_bringup.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,19 @@ def declare_robot_description_arg(name, **kwargs):
"macro_name", description="Name of robot description macro"
)

declare_robot_description_arg(
"use_mock_hardware",
default_value="false",
description="Whether to use mock hardware instead of real hardware interface",
)
declare_robot_description_arg(
"initial_positions_file",
default_value=PathJoinSubstitution(
[kuka_rsi_driver, "config", "initial_positions.yaml"]
),
description="Initial joint positions when using mock hardware",
)

declare_robot_description_arg(
"rsi_listen_ip",
default_value="127.0.0.1",
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19 changes: 11 additions & 8 deletions kuka_rsi_driver/test/move_sim.py
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Original file line number Diff line number Diff line change
Expand Up @@ -56,17 +56,18 @@

@pytest.mark.launch_test
@launch_testing.parametrize(
"prefix,robot_model",
"prefix,robot_model,use_mock_hardware",
itertools.product(
["", "prefix_"],
[
("kuka_kr5_support", "kr5_arc_macro.xacro", "kuka_kr5_arc"),
("kuka_kr120_support", "kr120r2500pro_macro.xacro", "kuka_kr120r2500pro"),
("kuka_kr210_support", "kr210r3100_macro.xacro", "kuka_kr210r3100"),
],
[True, False],
),
)
def generate_test_description(prefix, robot_model):
def generate_test_description(prefix, robot_model, use_mock_hardware):
kuka_rsi_driver = FindPackageShare("kuka_rsi_driver")

test_description = LaunchDescription()
Expand All @@ -84,6 +85,7 @@ def generate_test_description(prefix, robot_model):
"description_package": robot_model[0],
"description_macro_file": robot_model[1],
"macro_name": robot_model[2],
"use_mock_hardware": f"{use_mock_hardware}",
"launch_rviz": "False",
"prefix": prefix,
}.items(),
Expand All @@ -93,13 +95,14 @@ def generate_test_description(prefix, robot_model):
#
# Start simulator
#
test_description.add_action(
Node(
package="kuka_rsi_driver",
executable="simulator",
arguments=["--host-ip", "127.0.0.1"],
if not use_mock_hardware:
test_description.add_action(
Node(
package="kuka_rsi_driver",
executable="simulator",
arguments=["--host-ip", "127.0.0.1"],
)
)
)

test_description.add_action(ReadyToTest())
return test_description
Expand Down
67 changes: 47 additions & 20 deletions kuka_rsi_driver/urdf/kuka_rsi_driver.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -2,50 +2,77 @@

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="kuka_rsi_driver_control_joint" params="name">
<xacro:macro name="kuka_rsi_driver_control_joint" params="name initial_position">
<joint name="${name}">
<command_interface name="position" />
<state_interface name="position" />
<state_interface name="position">
<param name="initial_value">${initial_position}</param>
</state_interface>
<state_interface name="effort" />
</joint>
</xacro:macro>

<xacro:macro name="kuka_rsi_driver_control" params="
name
prefix
use_mock_hardware:=false
initial_positions:=${dict(joint_a1=0.0,joint_a2=0.0,joint_a3=0.0,joint_a4=0.0,joint_a5=0.0,joint_a6=0.0)}
rsi_listen_ip
rsi_listen_port:=49152
">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>kuka_rsi_driver/KukaRsiHardwareInterface</plugin>
<param name="listen_address">${rsi_listen_ip}</param>
<param name="listen_port">${rsi_listen_port}</param>
<xacro:if value="${use_mock_hardware}">
<plugin>mock_components/GenericSystem</plugin>
</xacro:if>
<xacro:unless value="${use_mock_hardware}">
<plugin>kuka_rsi_driver/KukaRsiHardwareInterface</plugin>
<param name="listen_address">${rsi_listen_ip}</param>
<param name="listen_port">${rsi_listen_port}</param>
</xacro:unless>
</hardware>

<xacro:kuka_rsi_driver_control_joint name="${prefix}joint_a1" />
<xacro:kuka_rsi_driver_control_joint name="${prefix}joint_a2" />
<xacro:kuka_rsi_driver_control_joint name="${prefix}joint_a3" />
<xacro:kuka_rsi_driver_control_joint name="${prefix}joint_a4" />
<xacro:kuka_rsi_driver_control_joint name="${prefix}joint_a5" />
<xacro:kuka_rsi_driver_control_joint name="${prefix}joint_a6" />
<xacro:kuka_rsi_driver_control_joint name="${prefix}joint_a1" initial_position="${initial_positions['joint_a1']}" />
<xacro:kuka_rsi_driver_control_joint name="${prefix}joint_a2" initial_position="${initial_positions['joint_a2']}" />
<xacro:kuka_rsi_driver_control_joint name="${prefix}joint_a3" initial_position="${initial_positions['joint_a3']}" />
<xacro:kuka_rsi_driver_control_joint name="${prefix}joint_a4" initial_position="${initial_positions['joint_a4']}" />
<xacro:kuka_rsi_driver_control_joint name="${prefix}joint_a5" initial_position="${initial_positions['joint_a5']}" />
<xacro:kuka_rsi_driver_control_joint name="${prefix}joint_a6" initial_position="${initial_positions['joint_a6']}" />

<sensor name="${prefix}tcp">
<state_interface name="position.x"/>
<state_interface name="position.y"/>
<state_interface name="position.z"/>
<state_interface name="orientation.x"/>
<state_interface name="orientation.y"/>
<state_interface name="orientation.z"/>
<state_interface name="orientation.w"/>
<state_interface name="position.x">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="position.y">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="position.z">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="orientation.x">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="orientation.y">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="orientation.z">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="orientation.w">
<param name="initial_value">1</param>
</state_interface>
</sensor>

<gpio name="${prefix}robot_state">
<state_interface name="program_state" />
<state_interface name="program_state">
<param name="initial_value">3</param>
</state_interface>
</gpio>

<gpio name="${prefix}speed_scaling">
<state_interface name="speed_scaling_factor" />
<state_interface name="speed_scaling_factor">
<param name="initial_value">1</param>
</state_interface>
</gpio>

</ros2_control>
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8 changes: 8 additions & 0 deletions kuka_rsi_driver/urdf/test_description.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -7,11 +7,17 @@
<xacro:arg name="description_macro_file" default="" />
<xacro:arg name="macro_name" default="" />

<xacro:arg name="use_mock_hardware" default="false" />
<xacro:arg name="initial_positions_file" default="$(find kuka_rsi_driver)/config/initial_positions.yaml" />

<xacro:arg name="rsi_listen_ip" default="127.0.0.1" />
<xacro:arg name="rsi_listen_port" default="49152" />

<xacro:arg name="prefix" default="" />

<!-- Convert argument to property so it can be used in a function -->
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)" />

<!-- Include robot description and invoke macro -->
<xacro:property name="description_package" value="$(arg description_package)" />
<xacro:include filename="$(find ${description_package})/urdf/$(arg description_macro_file)" />
Expand All @@ -22,6 +28,8 @@
<xacro:kuka_rsi_driver_control
name="$(arg macro_name)"
prefix="$(arg prefix)"
use_mock_hardware="$(arg use_mock_hardware)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
rsi_listen_ip="$(arg rsi_listen_ip)"
rsi_listen_port="$(arg rsi_listen_port)"
/>
Expand Down
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