Add mock components ros2_control example

README.md

@@ -81,3 +81,11 @@ parameters file.
 As mentioned above, see the `urdf/ur.urdf.xacro` file as an example to integrate a UR robot into
 your scene description. Basically, you could create a copy of that file and extend it with the
 modifications from your specific scene.
+
+### Using description with ros2_control
+The description itself does not contain a `ros2_control` tag. However, the package provides a couple
+of helper files to create your own `ros2_control` tag describing the robot's joint control
+mechanisms. See the [`urdf/ur_mocked.urdf.xacro`](urdf/ur_mocked.urdf.xacro)
+file as an example using [mock
+hardware](https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html)
+to control the robot.

urdf/ros2_control_mock_hardware.xacro

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur_joint_control.xacro" />
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur_sensors.xacro" />
+
+  <xacro:macro name="ur_ros2_control" params="
+    name
+    tf_prefix
+    mock_sensor_commands:=false
+    initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
+    ">
+
+    <ros2_control name="${name}" type="system">
+      <hardware>
+        <plugin>mock_components/GenericSystem</plugin>
+        <param name="mock_sensor_commands">${mock_sensor_commands}</param>
+        <param name="state_following_offset">0.0</param>
+      </hardware>
+      <xacro:ur_joint_control_description
+        tf_prefix="${tf_prefix}"
+        initial_positions="${initial_positions}"
+      />
+
+      <xacro:ur_sensors
+        tf_prefix="${tf_prefix}"
+      />
+    </ros2_control>
+  </xacro:macro>
+</robot>

urdf/ur_mocked.urdf.xacro

@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
+  <!-- robot name parameter -->
+  <xacro:arg name="name" default="ur"/>
+  <!-- import main macro -->
+  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+  <xacro:include filename="$(find ur_description)/urdf/ros2_control_mock_hardware.xacro" />
+
+  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
+  <!-- the default value should raise an error in case this was called without defining the type -->
+  <xacro:arg name="ur_type" default="ur5x"/>
+
+  <!-- parameters -->
+  <xacro:arg name="tf_prefix" default="" />
+  <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/>
+  <xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
+  <xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
+  <xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
+  <xacro:arg name="transmission_hw_interface" default=""/>
+  <xacro:arg name="safety_limits" default="false"/>
+  <xacro:arg name="safety_pos_margin" default="0.15"/>
+  <xacro:arg name="safety_k_position" default="20"/>
+  <xacro:arg name="mock_sensor_commands" default="false" />
+
+  <!--When using gazebo simulations absolute paths are necessary.-->
+  <xacro:arg name="force_abs_paths" default="false" />
+
+  <!-- initial position for simulations (Mock Hardware, Gazebo, Ignition) -->
+  <xacro:arg name="initial_positions_file" default="$(find ur_description)/config/initial_positions.yaml"/>
+
+  <!-- convert to property to use substitution in function -->
+  <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
+
+  <!-- create link fixed to the "world" -->
+  <link name="world" />
+
+  <!-- arm -->
+  <xacro:ur_robot
+    name="$(arg name)"
+    tf_prefix="$(arg tf_prefix)"
+    parent="world"
+    joint_limits_parameters_file="$(arg joint_limit_params)"
+    kinematics_parameters_file="$(arg kinematics_params)"
+    physical_parameters_file="$(arg physical_params)"
+    visual_parameters_file="$(arg visual_params)"
+    safety_limits="$(arg safety_limits)"
+    safety_pos_margin="$(arg safety_pos_margin)"
+    safety_k_position="$(arg safety_k_position)"
+    force_abs_paths="$(arg force_abs_paths)"
+    >
+    <origin xyz="0 0 0" rpy="0 0 0" />          <!-- position robot in the world -->
+  </xacro:ur_robot>
+
+  <!-- ros2 control instance -->
+  <xacro:ur_ros2_control
+    name="$(arg name)"
+    tf_prefix="$(arg tf_prefix)"
+    mock_sensor_commands="$(arg mock_sensor_commands)"
+    initial_positions="${xacro.load_yaml(initial_positions_file)}"
+  />
+</robot>