Hande Gripper - Add params frequency_hz, create_socat_tty, ip_adress & port

aegis/CHANGELOG.md

@@ -16,6 +16,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+* [PR-49](https://github.com/AGH-CEAI/aegis_ros/pull/27) - Updated `robotiq_hande_description` and `robotiq_hande_driver` packages.
 * [PR-25](https://github.com/AGH-CEAI/aegis_ros/pull/25) - Updated `robotiq_hande_description` package.
 
 ### Deprecated

aegis/aegis.repos

@@ -6,11 +6,11 @@ repositories:
   robotiq_hande_description:
     type: git
     url: https://github.com/AGH-CEAI/robotiq_hande_description
-    version: eef253d793b68eebfe644f9a16436db38fb029b7
+    version: b687bc55a52622004bbb72d1437288e9c69ce261
   robotiq_hande_driver:
     type: git
     url: https://github.com/AGH-CEAI/robotiq_hande_driver
-    version: becf2c1249636f52feea8c168d3e19c3531c7d69
+    version: 834c9b0b62d7df3d98f927245a3ab8d81065fe78
   scene_objects_manager:
     type: git
     url: https://github.com/AGH-CEAI/scene_objects_manager

aegis_control/CHANGELOG.md

@@ -19,6 +19,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+* [PR-49](https://github.com/AGH-CEAI/aegis_ros/pull/27) - Disabled the tool communication in the `ur_driver` in favor of `robotiq_hande_driver`'s `SocatManager`.
 * [PR-27](https://github.com/AGH-CEAI/aegis_ros/pull/27) - DepthAI nodes can be disabled with `mock_hardware` flag.
 * [PR-20] (https://github.com/AGH-CEAI/aegis_ros/pull/20) - Automatic initialization of the virtual serial port.
 * [PR-17](https://github.com/AGH-CEAI/aegis_ros/pull/17) - Added launch file for the ros2_net_ft_driver.

aegis_control/launch/ur_driver.launch.py

@@ -19,7 +19,7 @@ def __init__(self):
         self.ur_type = "ur5e"
         self.robot_ip = "aegis_ur"
 
-        self.use_tool_communication = "true"
+        self.use_tool_communication = "false"
         self.tool_device_name = "/tmp/ttyUR"
 
         self.real_initial_joint_controller = "scaled_joint_trajectory_controller"

aegis_description/CHANGELOG.md

@@ -16,6 +16,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+* [PR-49](https://github.com/AGH-CEAI/aegis_ros/pull/49) - Updated Hand-E gripper parameters.
 * [PR-44](https://github.com/AGH-CEAI/aegis_ros/pull/44) - Updated adapter to sensor component and SCHUNK AXIA 80 F/T sensor.
 * [PR-43](https://github.com/AGH-CEAI/aegis_ros/pull/43) - Updated adapter to sensor component.
 * [PR-42](https://github.com/AGH-CEAI/aegis_ros/pull/42) - Updated joints limits.

aegis_description/urdf/modules/robotiq_hande_gripper.xacro

@@ -2,12 +2,17 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:arg name="grip_pos_min" default="0"/>
   <xacro:arg name="grip_pos_max" default="0.025"/>
-  <xacro:arg name="tty" default="/tmp/ttyUR"/>
+  <xacro:arg name="tty_port" default="/tmp/ttyUR"/>
   <xacro:arg name="baudrate" default="115200"/>
   <xacro:arg name="parity" default="N"/>
   <xacro:arg name="data_bits" default="8"/>
   <xacro:arg name="stop_bit" default="1"/>
   <xacro:arg name="slave_id" default="9"/>
+  <xacro:arg name="frequency_hz" default="100"/>
+
+  <xacro:arg name="create_socat_tty" default="true"/>
+  <xacro:arg name="ip_adress" default="aegis_ur"/>
+  <xacro:arg name="port" default="54321"/>
 
   <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro"/>
 
@@ -19,12 +24,16 @@
       parent="${parent}"
       grip_pos_min="$(arg grip_pos_min)"
       grip_pos_max="$(arg grip_pos_max)"
-      tty="$(arg tty)"
+      tty_port="$(arg tty_port)"
       baudrate="$(arg baudrate)"
       parity="$(arg parity)"
       data_bits="$(arg data_bits)"
       stop_bit="$(arg stop_bit)"
       slave_id="$(arg slave_id)"
+      frequency_hz="$(arg frequency_hz)"
+      create_socat_tty="$(arg create_socat_tty)"
+      ip_adress="$(arg ip_adress)"
+      port="$(arg port)"
       use_fake_hardware="${mock_hardware}"
     />
   </xacro:macro>

aegis_description/urdf/modules/ur_definition.xacro

@@ -25,7 +25,7 @@
     <xacro:arg name="reverse_ip" default="0.0.0.0"/>
 
     <!--   tool communication related parameters-->
-    <xacro:arg name="use_tool_communication" default="true"/>
+    <xacro:arg name="use_tool_communication" default="false"/>
     <xacro:arg name="tool_voltage" default="0"/>
     <xacro:arg name="tool_device_name" default="/tmp/ttyUR"/>
 
@@ -80,7 +80,7 @@
       <gazebo reference="${parent}"/>
       <gazebo>
         <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-          <parameters>$(arg simulation_controllers)</parameters>
+          <parameters>$(arg simulation_controllers${port})</parameters>
         </plugin>
       </gazebo>
     </xacro:if>