Merge branch 'humble-devel' into feature/minor_improvments

Author: macmacal

CHANGELOG.md

@@ -0,0 +1,22 @@
+# Changelog
+
+All notable changes to the `robotiq_hande_driver` package will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [Unreleased]
+
+### Added
+* [PR-1](https://github.com/AGH-CEAI/robotiq_hande_description/pull/1) - Configuration parameters for ModbusRTU
+
+### Changed
+
+### Deprecated
+
+### Removed
+
+### Fixed
+* [PR-2] (https://github.com/AGH-CEAI/robotiq_hande_description/pull/2) - Removed unnecessary quotation marks from parameter values.
+
+### Security

urdf/robotiq_hande_gripper.ros2_control.xacro

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="robotiq_hande_ros2_control" params="name prefix tty use_fake_hardware">
+  <xacro:macro name="robotiq_hande_ros2_control" params="name prefix grip_pos_min grip_pos_max tty baudrate parity data_bits stop_bit slave_id use_fake_hardware">
     <ros2_control name="${name}" type="system">
       <hardware>
         <xacro:if value="${use_fake_hardware}">
@@ -9,7 +9,14 @@
 
         <xacro:unless value="${use_fake_hardware}">
           <plugin>robotiq_hande_driver/RobotiqHandeHardwareInterface</plugin>
+          <param name="grip_pos_min">${grip_pos_min}</param>
+          <param name="grip_pos_max">${grip_pos_max}</param>
           <param name="tty">${tty}</param>
+          <param name="baudrate">${baudrate}</param>
+          <param name="parity">${parity}</param>
+          <param name="data_bits">${data_bits}</param>
+          <param name="stop_bit">${stop_bit}</param>
+          <param name="slave_id">${slave_id}</param>
         </xacro:unless>
       </hardware>
 
@@ -22,7 +29,9 @@
         <state_interface name="position">
           <param name="initial_value">0.025</param>
         </state_interface>
-        <state_interface name="velocity"/>
+        <state_interface name="velocity">
+          <param name="initial_value">0</param>
+        </state_interface>
       </joint>
     </ros2_control>
   </xacro:macro>

urdf/robotiq_hande_gripper.urdf.xacro

@@ -1,11 +1,31 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="robotiq_hande_gripper">
   <xacro:arg name="parent" default="tool0"/>
-  <xacro:arg name="tty" default="/dev/ttyXXX"/>
+  <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="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="use_fake_hardware" default="true"/>
 
   <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro"/>
 
   <link name="$(arg parent)"/>
-  <xacro:robotiq_hande_gripper name="robotiq_hande_gripper" prefix="" parent="$(arg parent)" tty="$(arg tty)" use_fake_hardware="$(arg use_fake_hardware)"/>
+  <xacro:robotiq_hande_gripper
+    name="robotiq_hande_gripper"
+    prefix=""
+    parent="$(arg parent)"
+    grip_pos_min="$(arg grip_pos_min)"
+    grip_pos_max="$(arg grip_pos_max)"
+    tty="$(arg tty)"
+    baudrate="$(arg baudrate)"
+    parity="$(arg parity)"
+    data_bits="$(arg data_bits)"
+    stop_bit="$(arg stop_bit)"
+    slave_id="$(arg slave_id)"
+    use_fake_hardware="$(use_fake_hardware)"
+  />
 </robot>

urdf/robotiq_hande_gripper.xacro

@@ -6,9 +6,21 @@
 
   <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.ros2_control.xacro"/>
 
-  <xacro:macro name="robotiq_hande_gripper" params="name prefix parent tty use_fake_hardware coupler_mass:=0.119">
+  <xacro:macro name="robotiq_hande_gripper" params="name prefix parent grip_pos_min grip_pos_max tty baudrate parity data_bits stop_bit slave_id use_fake_hardware coupler_mass:=0.119">
     <!-- ros2_control parameters  -->
-    <xacro:robotiq_hande_ros2_control name="${name}" prefix="${prefix}" tty="${tty}" use_fake_hardware="${use_fake_hardware}"/>
+    <xacro:robotiq_hande_ros2_control
+      name="${name}"
+      prefix="${prefix}"
+      grip_pos_min="${grip_pos_min}"
+      grip_pos_max="${grip_pos_max}"
+      tty="${tty}"
+      baudrate="${baudrate}"
+      parity="${parity}"
+      data_bits="${data_bits}"
+      stop_bit="${stop_bit}"
+      slave_id="${slave_id}"
+      use_fake_hardware="${use_fake_hardware}"
+    />
 
     <!-- Robotiq Coupler -->
     <!--  + Height added by the coupler (16.9mm) -->
@@ -75,7 +87,7 @@
       <parent link="${prefix}robotiq_hande_link"/>
       <child link="${prefix}robotiq_hande_left_finger"/>
       <axis xyz="1 0 0"/>
-      <limit effort="130" lower="0" upper="0.025" velocity="0.15"/>
+      <limit effort="130" lower="${grip_pos_min}" upper="${grip_pos_max}" velocity="0.15"/>
     </joint>
 
     <link name="${prefix}robotiq_hande_left_finger">
@@ -105,7 +117,7 @@
       <parent link="${prefix}robotiq_hande_link"/>
       <child link="${prefix}robotiq_hande_right_finger"/>
       <axis xyz="-1 0 0"/>
-      <limit effort="130" lower="0" upper="0.025" velocity="0.15"/>
+      <limit effort="130" lower="${grip_pos_min}" upper="${grip_pos_max}" velocity="0.15"/>
       <mimic joint="${prefix}robotiq_hande_left_finger_joint" multiplier="1" offset="0"/>
     </joint>