Add calibration file to launch arguments (#1001)

Added kinematics_params_file as launch argument. This way users can directly provide a calibration without requiring a separate package.
UniversalRobots · May 22, 2024 · 009458a · 009458a
1 parent f94b9c1
commit 009458a
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Showing 2 changed files with 32 additions and 8 deletions.
diff --git a/ur_bringup/launch/ur_control.launch.py b/ur_bringup/launch/ur_control.launch.py
@@ -51,6 +51,7 @@ def launch_setup(context, *args, **kwargs):
     controllers_file = LaunchConfiguration("controllers_file")
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
+    kinematics_params_file = LaunchConfiguration("kinematics_params_file")
     tf_prefix = LaunchConfiguration("tf_prefix")
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
     fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
@@ -72,9 +73,6 @@ def launch_setup(context, *args, **kwargs):
     joint_limit_params = PathJoinSubstitution(
         [FindPackageShare(description_package), "config", ur_type, "joint_limits.yaml"]
     )
-    kinematics_params = PathJoinSubstitution(
-        [FindPackageShare(description_package), "config", ur_type, "default_kinematics.yaml"]
-    )
     physical_params = PathJoinSubstitution(
         [FindPackageShare(description_package), "config", ur_type, "physical_parameters.yaml"]
     )
@@ -104,7 +102,7 @@ def launch_setup(context, *args, **kwargs):
             joint_limit_params,
             " ",
             "kinematics_params:=",
-            kinematics_params,
+            kinematics_params_file,
             " ",
             "physical_params:=",
             physical_params,
@@ -418,6 +416,20 @@ def generate_launch_description():
             description="URDF/XACRO description file with the robot.",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "kinematics_params_file",
+            default_value=PathJoinSubstitution(
+                [
+                    FindPackageShare(LaunchConfiguration("description_package")),
+                    "config",
+                    LaunchConfiguration("ur_type"),
+                    "default_kinematics.yaml",
+                ]
+            ),
+            description="The calibration configuration of the actual robot used.",
+        )
+    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "tf_prefix",

diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
@@ -51,6 +51,7 @@ def launch_setup(context, *args, **kwargs):
     controllers_file = LaunchConfiguration("controllers_file")
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
+    kinematics_params_file = LaunchConfiguration("kinematics_params_file")
     tf_prefix = LaunchConfiguration("tf_prefix")
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
     fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
@@ -78,9 +79,6 @@ def launch_setup(context, *args, **kwargs):
     joint_limit_params = PathJoinSubstitution(
         [FindPackageShare(description_package), "config", ur_type, "joint_limits.yaml"]
     )
-    kinematics_params = PathJoinSubstitution(
-        [FindPackageShare(description_package), "config", ur_type, "default_kinematics.yaml"]
-    )
     physical_params = PathJoinSubstitution(
         [FindPackageShare(description_package), "config", ur_type, "physical_parameters.yaml"]
     )
@@ -110,7 +108,7 @@ def launch_setup(context, *args, **kwargs):
             joint_limit_params,
             " ",
             "kinematics_params:=",
-            kinematics_params,
+            kinematics_params_file,
             " ",
             "physical_params:=",
             physical_params,
@@ -445,6 +443,20 @@ def generate_launch_description():
             description="URDF/XACRO description file with the robot.",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "kinematics_params_file",
+            default_value=PathJoinSubstitution(
+                [
+                    FindPackageShare(LaunchConfiguration("description_package")),
+                    "config",
+                    LaunchConfiguration("ur_type"),
+                    "default_kinematics.yaml",
+                ]
+            ),
+            description="The calibration configuration of the actual robot used.",
+        )
+    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "tf_prefix",