openarm/openarm_ros2
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Revert hardware flag (#53)

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There is an inconsistency in the last commit #52 for the `hardware_type`
and `use_fake_hardware`. Reverted to using `use_fake_hardware`.
This commit is contained in:
Yue Yin 2025-08-06 17:07:39 +09:00 committed by GitHub
parent 07bbb4b297
commit f9982d6ee6
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GPG Key ID: B5690EEEBB952194
2 changed files with 20 additions and 20 deletions
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20
openarm_bringup/launch/openarm.bimanual.launch.py
View File

@ -37,13 +37,13 @@ def namespace_from_context(context, arm_prefix):
def generate_robot_description(context: LaunchContext, description_package, description_file,
arm_type, hardware_type, right_can_interface, left_can_interface):
arm_type, use_fake_hardware, right_can_interface, left_can_interface):
"""Generate robot description using xacro processing."""
description_package_str = context.perform_substitution(description_package)
description_file_str = context.perform_substitution(description_file)
arm_type_str = context.perform_substitution(arm_type)
hardware_type_str = context.perform_substitution(hardware_type)
use_fake_hardware_str = context.perform_substitution(use_fake_hardware)
right_can_interface_str = context.perform_substitution(right_can_interface)
left_can_interface_str = context.perform_substitution(left_can_interface)
@ -58,7 +58,7 @@ def generate_robot_description(context: LaunchContext, description_package, desc
mappings={
"arm_type": arm_type_str,
"bimanual": "true",
"hardware_type": hardware_type_str,
"use_fake_hardware": use_fake_hardware_str,
"ros2_control": "true",
"right_can_interface": right_can_interface_str,
"left_can_interface": left_can_interface_str,
@ -69,12 +69,12 @@ def generate_robot_description(context: LaunchContext, description_package, desc
def robot_nodes_spawner(context: LaunchContext, description_package, description_file,
arm_type, hardware_type, controllers_file, right_can_interface, left_can_interface, arm_prefix):
arm_type, use_fake_hardware, controllers_file, right_can_interface, left_can_interface, arm_prefix):
"""Spawn both robot state publisher and control nodes with shared robot description."""
namespace = namespace_from_context(context, arm_prefix)
robot_description = generate_robot_description(
context, description_package, description_file, arm_type, hardware_type, right_can_interface, left_can_interface,
context, description_package, description_file, arm_type, use_fake_hardware, right_can_interface, left_can_interface,
)
controllers_file_str = context.perform_substitution(controllers_file)
@ -153,9 +153,9 @@ def generate_launch_description():
description="Type of arm (e.g., v10).",
),
DeclareLaunchArgument(
"hardware_type",
default_value="real",
description="Use real/mock/mujoco hardware.",
"use_fake_hardware",
default_value="false",
description="Use fake hardware instead of real hardware.",
),
DeclareLaunchArgument(
"robot_controller",
@ -195,7 +195,7 @@ def generate_launch_description():
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
arm_type = LaunchConfiguration("arm_type")
hardware_type = LaunchConfiguration("hardware_type")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
robot_controller = LaunchConfiguration("robot_controller")
runtime_config_package = LaunchConfiguration("runtime_config_package")
controllers_file = LaunchConfiguration("controllers_file")
@ -211,7 +211,7 @@ def generate_launch_description():
robot_nodes_spawner_func = OpaqueFunction(
function=robot_nodes_spawner,
args=[description_package, description_file, arm_type,
hardware_type, controllers_file, rightcan_interface, left_can_interface, arm_prefix]
use_fake_hardware, controllers_file, rightcan_interface, left_can_interface, arm_prefix]
)
rviz_config_file = PathJoinSubstitution(

20
openarm_bringup/launch/openarm.launch.py
View File

@ -30,14 +30,14 @@ from launch_ros.substitutions import FindPackageShare
def generate_robot_description(context: LaunchContext, description_package, description_file,
arm_type, hardware_type, can_interface, arm_prefix):
arm_type, use_fake_hardware, can_interface, arm_prefix):
"""Generate robot description using xacro processing."""
# Substitute launch configuration values
description_package_str = context.perform_substitution(description_package)
description_file_str = context.perform_substitution(description_file)
arm_type_str = context.perform_substitution(arm_type)
hardware_type_str = context.perform_substitution(hardware_type)
use_fake_hardware_str = context.perform_substitution(use_fake_hardware)
can_interface_str = context.perform_substitution(can_interface)
arm_prefix_str = context.perform_substitution(arm_prefix)
@ -53,7 +53,7 @@ def generate_robot_description(context: LaunchContext, description_package, desc
mappings={
"arm_type": arm_type_str,
"bimanual": "false",
"hardware_type": hardware_type_str,
"use_fake_hardware": use_fake_hardware_str,
"ros2_control": "true",
"can_interface": can_interface_str,
"arm_prefix": arm_prefix_str,
@ -64,12 +64,12 @@ def generate_robot_description(context: LaunchContext, description_package, desc
def robot_nodes_spawner(context: LaunchContext, description_package, description_file,
arm_type, hardware_type, controllers_file, can_interface, arm_prefix):
arm_type, use_fake_hardware, controllers_file, can_interface, arm_prefix):
"""Spawn both robot state publisher and control nodes with shared robot description."""
# Generate robot description once
robot_description = generate_robot_description(
context, description_package, description_file, arm_type, hardware_type, can_interface, arm_prefix
context, description_package, description_file, arm_type, use_fake_hardware, can_interface, arm_prefix
)
# Get controllers file path
@ -117,9 +117,9 @@ def generate_launch_description():
description="Type of arm (e.g., v10).",
),
DeclareLaunchArgument(
"hardware_type",
default_value="real",
description="Use real/mock/mujoco hardware.",
"use_fake_hardware",
default_value="false",
description="Use fake hardware instead of real hardware.",
),
DeclareLaunchArgument(
"robot_controller",
@ -154,7 +154,7 @@ def generate_launch_description():
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
arm_type = LaunchConfiguration("arm_type")
hardware_type = LaunchConfiguration("hardware_type")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
robot_controller = LaunchConfiguration("robot_controller")
runtime_config_package = LaunchConfiguration("runtime_config_package")
controllers_file = LaunchConfiguration("controllers_file")
@ -170,7 +170,7 @@ def generate_launch_description():
robot_nodes_spawner_func = OpaqueFunction(
function=robot_nodes_spawner,
args=[description_package, description_file, arm_type,
hardware_type, controllers_file, can_interface, arm_prefix]
use_fake_hardware, controllers_file, can_interface, arm_prefix]
)
# RViz configuration
rviz_config_file = PathJoinSubstitution(