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Fix: Franka Update (#238)
* Pass version parameter to Franka Hardware Interface * Use franka_arm macro and always add position and velocity interfaces * Only use effort
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‎clearpath_manipulators_description/config/arm/franka/control.yaml

Lines changed: 1 addition & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -19,9 +19,7 @@ ${controller_name}_joint_trajectory_controller:
1919
- ${name}_joint6
2020
- ${name}_joint7
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command_interfaces:
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- position
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- velocity
24-
# - effort
22+
- effort
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state_interfaces:
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- position
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- velocity

‎clearpath_manipulators_description/urdf/arm/franka.urdf.xacro

Lines changed: 5 additions & 147 deletions
Original file line numberDiff line numberDiff line change
@@ -4,148 +4,6 @@
44
<xacro:arg name="use_fake_hardware" default="false"/>
55
<xacro:arg name="use_manipulation_controllers" default="false"/>
66

7-
<!-- Franka Arm Xacro (without the comments) -->
8-
<xacro:macro name="franka_arm" params="arm_id arm_prefix:='' no_prefix:=false description_pkg:='franka_description' connected_to:='base' xyz:='0 0 0' rpy:='0 0 0' gazebo:='false' safety_distance:=0 joint_limits inertials kinematics dynamics with_sc:=false" >
9-
10-
<!-- Define a property that defaults to 'arm_prefix_arm_id' concatenated with an underscore if 'no_prefix' is not set -->
11-
<xacro:property name="prefix" value="${'' if no_prefix else arm_prefix + arm_id + '_'}" />
12-
13-
<xacro:if value="${gazebo}">
14-
<xacro:property name="connected_to" value="" />
15-
</xacro:if>
16-
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<xacro:unless value="${not connected_to}">
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<link name="${connected_to}">
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</link>
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<joint name="${prefix}${connected_to}_joint" type="fixed">
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<parent link="${connected_to}"/>
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<child link="${prefix}link0"/>
23-
<origin rpy="${rpy}" xyz="${xyz}"/>
24-
</joint>
25-
</xacro:unless>
26-
27-
<xacro:link_with_sc no_prefix="${no_prefix}" name="link0" gazebo="${gazebo}" with_sc="${with_sc}">
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<self_collision_geometries>
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<xacro:collision_capsule xyz="-0.075 0 0.06" direction="x" radius="${0.06+safety_distance}" length="0.03" />
30-
</self_collision_geometries>
31-
</xacro:link_with_sc>
32-
33-
<xacro:link_with_sc no_prefix="${no_prefix}" name="link1" gazebo="${gazebo}" with_sc="${with_sc}">
34-
<self_collision_geometries>
35-
<xacro:collision_capsule xyz="0 0 -191.5e-3" radius="${0.06+safety_distance}" length="0.283" />
36-
</self_collision_geometries>
37-
</xacro:link_with_sc>
38-
39-
<joint name="${prefix}joint1" type="revolute">
40-
<xacro:franka-kinematics name="joint1" config="${kinematics}" />
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<parent link="${prefix}link0" />
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<child link="${prefix}link1" />
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<axis xyz="0 0 1" />
44-
<xacro:franka-limits name="joint1" config="${joint_limits}" />
45-
<xacro:franka-dynamics name="joint1" config="${dynamics}" />
46-
</joint>
47-
48-
<xacro:link_with_sc no_prefix="${no_prefix}" name="link2" gazebo="${gazebo}" with_sc="${with_sc}">
49-
<self_collision_geometries>
50-
<xacro:collision_capsule xyz="0 0 0" radius="${0.06+safety_distance}" length="0.12" />
51-
</self_collision_geometries>
52-
</xacro:link_with_sc>
53-
54-
<joint name="${prefix}joint2" type="revolute">
55-
<xacro:franka-kinematics name="joint2" config="${kinematics}" />
56-
<parent link="${prefix}link1" />
57-
<child link="${prefix}link2" />
58-
<axis xyz="0 0 1" />
59-
<xacro:franka-limits name="joint2" config="${joint_limits}" />
60-
<xacro:franka-dynamics name="joint2" config="${dynamics}" />
61-
</joint>
62-
63-
<xacro:link_with_sc no_prefix="${no_prefix}" name="link3" gazebo="${gazebo}" with_sc="${with_sc}">
64-
<self_collision_geometries>
65-
<xacro:collision_capsule xyz="0 0 -0.145" radius="${0.06+safety_distance}" length="0.15" />
66-
</self_collision_geometries>
67-
</xacro:link_with_sc>
68-
69-
<joint name="${prefix}joint3" type="revolute">
70-
<xacro:franka-kinematics name="joint3" config="${kinematics}" />
71-
<parent link="${prefix}link2" />
72-
<child link="${prefix}link3" />
73-
<axis xyz="0 0 1" />
74-
<xacro:franka-limits name="joint3" config="${joint_limits}" />
75-
<xacro:franka-dynamics name="joint3" config="${dynamics}" />
76-
</joint>
77-
78-
<xacro:link_with_sc no_prefix="${no_prefix}" name="link4" gazebo="${gazebo}" with_sc="${with_sc}">
79-
<self_collision_geometries>
80-
<xacro:collision_capsule xyz="0 0 0" radius="${0.06+safety_distance}" length="0.12" />
81-
</self_collision_geometries>
82-
</xacro:link_with_sc>
83-
84-
<joint name="${prefix}joint4" type="revolute">
85-
<xacro:franka-kinematics name="joint4" config="${kinematics}" />
86-
<parent link="${prefix}link3" />
87-
<child link="${prefix}link4" />
88-
<axis xyz="0 0 1" />
89-
<xacro:franka-limits name="joint4" config="${joint_limits}" />
90-
<xacro:franka-dynamics name="joint4" config="${dynamics}" />
91-
</joint>
92-
93-
<xacro:link_with_sc no_prefix="${no_prefix}" name="link5" gazebo="${gazebo}" with_sc="${with_sc}">
94-
<self_collision_geometries>
95-
<xacro:collision_capsule xyz="0 0 -0.26" radius="${0.060+safety_distance}" length="0.10" />
96-
<xacro:collision_capsule xyz="0 0.08 -0.13" radius="${0.025+safety_distance}" length="0.14" />
97-
</self_collision_geometries>
98-
</xacro:link_with_sc>
99-
100-
<joint name="${prefix}joint5" type="revolute">
101-
<xacro:franka-kinematics name="joint5" config="${kinematics}" />
102-
<parent link="${prefix}link4" />
103-
<child link="${prefix}link5" />
104-
<axis xyz="0 0 1" />
105-
<xacro:franka-limits name="joint5" config="${joint_limits}" />
106-
<xacro:franka-dynamics name="joint5" config="${dynamics}" />
107-
</joint>
108-
109-
<xacro:link_with_sc no_prefix="${no_prefix}" name="link6" gazebo="${gazebo}" with_sc="${with_sc}">
110-
<self_collision_geometries>
111-
<xacro:collision_capsule xyz="0 0 -0.03" radius="${0.05+safety_distance}" length="0.08" />
112-
</self_collision_geometries>
113-
</xacro:link_with_sc>
114-
115-
<joint name="${prefix}joint6" type="revolute">
116-
<xacro:franka-kinematics name="joint6" config="${kinematics}" />
117-
<parent link="${prefix}link5" />
118-
<child link="${prefix}link6" />
119-
<axis xyz="0 0 1" />
120-
<xacro:franka-limits name="joint6" config="${joint_limits}" />
121-
<xacro:franka-dynamics name="joint6" config="${dynamics}" />
122-
</joint>
123-
124-
<xacro:link_with_sc no_prefix="${no_prefix}" name="link7" gazebo="${gazebo}" rpy="0 0 ${pi/4}" with_sc="${with_sc}">
125-
<self_collision_geometries>
126-
<xacro:collision_capsule xyz="0 0 0.01" direction="z" radius="${0.04+safety_distance}" length="0.14" />
127-
<xacro:collision_capsule xyz="0.06 0 0.082" direction="x" radius="${0.03+safety_distance}" length="0.01" />
128-
</self_collision_geometries>
129-
</xacro:link_with_sc>
130-
131-
<joint name="${prefix}joint7" type="revolute">
132-
<xacro:franka-kinematics name="joint7" config="${kinematics}" />
133-
<parent link="${prefix}link6"/>
134-
<child link="${prefix}link7"/>
135-
<axis xyz="0 0 1"/>
136-
<xacro:franka-limits name="joint7" config="${joint_limits}" />
137-
<xacro:franka-dynamics name="joint7" config="${dynamics}" />
138-
</joint>
139-
140-
<link name="${prefix}link8"/>
141-
142-
<joint name="${prefix}joint8" type="fixed">
143-
<xacro:franka-kinematics name="joint8" config="${kinematics}" />
144-
<parent link="${prefix}link7" />
145-
<child link="${prefix}link8" />
146-
</joint>
147-
</xacro:macro>
148-
1497
<!-- Franka ROS2 Control -->
1508
<xacro:macro name="franka_arm_ros2_control"
1519
params="arm_id
@@ -161,6 +19,7 @@
16119
<xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
16220
<ros2_control name="${arm_prefix_modified}FrankaHardwareInterface" type="system">
16321
<hardware>
22+
<param name="version">0.1.0</param>
16423
<param name="arm_id">${arm_id}</param>
16524
<param name="prefix">${arm_prefix}</param>
16625
<xacro:if value="${use_fake_hardware}">
@@ -187,11 +46,9 @@
18746

18847
<xacro:macro name="configure_joint" params="joint_name initial_position">
18948
<joint name="${joint_name}">
190-
<xacro:unless value="${gazebo and gazebo_effort}">
191-
<command_interface name="position"/>
192-
<command_interface name="velocity"/>
193-
</xacro:unless>
194-
<xacro:if value="${gazebo_effort}">
49+
<command_interface name="position"/>
50+
<command_interface name="velocity"/>
51+
<xacro:if value="${gazebo == 0 or gazebo_effort == 1}">
19552
<command_interface name="effort"/>
19653
</xacro:if>
19754

@@ -239,6 +96,7 @@
23996
connected_to:='base'
24097
multi_arm:=false">
24198
<xacro:include filename="$(find franka_description)/robots/common/utils.xacro" />
99+
<xacro:include filename="$(find franka_description)/robots/common/franka_arm.xacro" />
242100

243101
<xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
244102

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