Change names

Author: sivral

README.md

@@ -93,14 +93,14 @@ UR controller RS-485 tool port ↔ URCap forwarder ↔ TCP socket ↔ Computer
 
 Although this is a TCP connection, the driver uses a pseudo-TTY to translate TCP packets into RTU frames. Typically, the virtual serial port is `/tmp/ttyUR`.
 
-To enable this mode, set `use_fake_hardware:=false`, `create_socat_tty:=true`, and specify the `ip_address` and `port` of the UR forwarder:
+To enable this mode, set `use_fake_hardware:=false`, `create_socat_tty:=true`, and specify the `socat_ip_address` and `socat_port` of the UR forwarder:
 ```bash
 ros2 launch robotiq_hande_driver gripper_controller_preview.launch.py \
   use_fake_hardware:=false \
   create_socat_tty:=true \
   tty_port:=/tmp/ttyUR \
-  ip_address:=192.168.1.2 \
-  port:=54321 \
+  socat_ip_address:=192.168.1.2 \
+  socat_port:=54321 \
   frequency_hz:=10 \
   launch_rviz:=true
 ```

robotiq_hande_driver/CHANGELOG.md

@@ -21,7 +21,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
-* [PR-27](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/27) - Renamed `ip_adress` to `ip_address`.
+* [PR-27](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/27) - Renamed `ip_adress` to `socat_ip_address` and `port` to `socat_port`.
 
 * [PR-21](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/21) - Refactored the modbus communication to use multithreads:
   * Renamed `application.hpp/cpp` to `hande_gripper.hpp/cpp`.

robotiq_hande_driver/bringup/launch/gripper_controller_preview.launch.py

@@ -64,14 +64,14 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "ip_address",
+            "socat_ip_address",
             default_value="192.168.100.10",
             description="Set IP address for TCP connection.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "port", default_value="54321", description="Set TCP port for connection."
+            "socat_port", default_value="54321", description="Set TCP port for connection."
         )
     )
 
@@ -143,8 +143,8 @@ def prepare_robot_state_publisher_node() -> Node:
     frequency_hz = LaunchConfiguration("frequence_hz")
     tty_port = LaunchConfiguration("tty_port")
     create_socat_tty = LaunchConfiguration("create_socat_tty")
-    ip_address = LaunchConfiguration("ip_address")
-    port = LaunchConfiguration("port")
+    socat_ip_address = LaunchConfiguration("socat_ip_address")
+    socat_port = LaunchConfiguration("socat_port")
 
     robot_description_str = Command(
         [
@@ -173,11 +173,11 @@ def prepare_robot_state_publisher_node() -> Node:
             "create_socat_tty:=",
             create_socat_tty,
             " ",
-            "ip_address:=",
-            ip_address,
+            "socat_ip_address:=",
+            socat_ip_address,
             " ",
-            "port:=",
-            port,
+            "socat_port:=",
+            socat_port,
         ]
     )
     return Node(

robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp

@@ -39,8 +39,8 @@ HWI::CallbackReturn RobotiqHandeHardwareInterface::on_init(const HWI::HardwareIn
     bool manage_virutal_serial = str_to_lower(info_.hardware_parameters["create_socat_tty"])
                                  == "true";
     if(manage_virutal_serial) {
-        auto ip_addr = info_.hardware_parameters["ip_address"];
-        auto port = info_.hardware_parameters["port"];
+        auto ip_addr = info_.hardware_parameters["socat_ip_address"];
+        auto port = info_.hardware_parameters["socat_port"];
         auto tty_port = info_.hardware_parameters["tty_port"];
 
         RCLCPP_INFO(

robotiq_hande_driver/test/test_load_hw_interface.cpp

@@ -36,8 +36,8 @@ class TestHWInterface : public ::testing::Test {
                     <param name="slave_id">9</param>
                     <param name="frequency_hz">10</param>
                     <param name="create_socat_tty">false</param>
-                    <param name="ip_address">127.0.0.1</param>
-                    <param name="port">8888</param>
+                    <param name="socat_ip_address">127.0.0.1</param>
+                    <param name="socat_port">8888</param>
                 </hardware>
                 <joint name="joint1">
                     <command_interface name="position"/>