From f251dbeed32d51cba0ac6a15045368f91473c842 Mon Sep 17 00:00:00 2001
From: sRivers <14599601+srivers@user.noreply.gitee.com>
Date: Tue, 21 Jan 2025 12:17:18 +0800
Subject: [PATCH] =?UTF-8?q?update=20v1.0.14=201.=E6=B7=BB=E5=8A=A0?=
 =?UTF-8?q?=E5=A4=B9=E7=88=AA=E9=85=8D=E5=A5=97ros2=5Fcontrol=20yaml?=
 =?UTF-8?q?=E9=85=8D=E7=BD=AE=E6=96=87=E4=BB=B6=202.=E4=BF=AE=E6=94=B9laun?=
 =?UTF-8?q?ch=E6=96=87=E4=BB=B6=EF=BC=8C=E4=B8=8D=E5=90=AF=E5=8A=A8rviz?=
 =?UTF-8?q?=E6=97=B6=E4=B8=8D=E5=86=8D=E5=90=AF=E5=8A=A8joint=5Fstate=5Fpu?=
 =?UTF-8?q?blisher,=E9=98=B2=E6=AD=A2joint=5Fstate=5Fpublisher=E4=B8=8Ejoi?=
 =?UTF-8?q?nt=5Fstate=5Fbroadcaster=E5=86=B2=E7=AA=81=E7=9A=84=E6=8A=A5?=
 =?UTF-8?q?=E9=94=99TF=5FOLD=5FDATA?=
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---
 .gitignore                                    |  3 ++
 .../config/coarm_controllers_omnipicker.yaml  | 42 +++++++++++++++++++
 .../config/coarm_controllers_rhino.yaml       | 42 +++++++++++++++++++
 coarm_gazebo/launch/coarm_gazebo.launch.py    |  1 +
 .../launch/eye_to_hand_gazebo.launch.py       |  1 +
 5 files changed, 89 insertions(+)
 create mode 100644 coarm_gazebo/config/coarm_controllers_omnipicker.yaml
 create mode 100644 coarm_gazebo/config/coarm_controllers_rhino.yaml

diff --git a/.gitignore b/.gitignore
index 16f7b04..415be25 100644
--- a/.gitignore
+++ b/.gitignore
@@ -134,3 +134,6 @@ dmypy.json
 
 # Cython debug symbols
 cython_debug/
+
+# VScode
+.vscode/
diff --git a/coarm_gazebo/config/coarm_controllers_omnipicker.yaml b/coarm_gazebo/config/coarm_controllers_omnipicker.yaml
new file mode 100644
index 0000000..5730bd7
--- /dev/null
+++ b/coarm_gazebo/config/coarm_controllers_omnipicker.yaml
@@ -0,0 +1,42 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100 # update_rate specifies how often (in Hz) the controllers should be updated.
+
+    # Responsible for publishing the current state of the robot's joints to the /joint_states
+    # ROS 2 topic
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    # The JointTrajectoryController allows you to send joint trajectory commands to a group
+    # of joints on a robot. These commands specify the desired positions for each joint.
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+# Define the parameters for each controller
+arm_controller:
+  ros__parameters:
+    joints:
+      - shoulder_joint
+      - upperArm_joint
+      - foreArm_joint
+      - wrist1_joint
+      - wrist2_joint
+      - wrist3_joint
+      - omnipicker_hand_narrow1_joint
+    # The controller will expect position commands as input for each of these joints.
+    command_interfaces:
+      - position
+    # Tells the controller that it should expect to receive position data as the state
+    # feedback from the hardware interface,
+    state_interfaces:
+      - position
+    # If true, When set to true, the controller will not use any feedback from the system
+    # (e.g., joint positions, velocities, efforts) to compute the control commands.
+    open_loop_control: false
+    # When set to true, it allows the controller to integrate the trajectory goals it receives.
+    # This means that if the goal trajectory only specifies positions, the controller will
+    # numerically integrate the positions to compute the velocities and accelerations required
+    # to follow the trajectory.
+    allow_integration_in_goal_trajectories: true
+    # Allow non-zero velocity at the end of the trajectory
+    allow_nonzero_velocity_at_trajectory_end: true
diff --git a/coarm_gazebo/config/coarm_controllers_rhino.yaml b/coarm_gazebo/config/coarm_controllers_rhino.yaml
new file mode 100644
index 0000000..10f1de7
--- /dev/null
+++ b/coarm_gazebo/config/coarm_controllers_rhino.yaml
@@ -0,0 +1,42 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100 # update_rate specifies how often (in Hz) the controllers should be updated.
+
+    # Responsible for publishing the current state of the robot's joints to the /joint_states
+    # ROS 2 topic
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    # The JointTrajectoryController allows you to send joint trajectory commands to a group
+    # of joints on a robot. These commands specify the desired positions for each joint.
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+# Define the parameters for each controller
+arm_controller:
+  ros__parameters:
+    joints:
+      - shoulder_joint
+      - upperArm_joint
+      - foreArm_joint
+      - wrist1_joint
+      - wrist2_joint
+      - wrist3_joint
+      - rhino_left_knuckle_joint
+    # The controller will expect position commands as input for each of these joints.
+    command_interfaces:
+      - position
+    # Tells the controller that it should expect to receive position data as the state
+    # feedback from the hardware interface,
+    state_interfaces:
+      - position
+    # If true, When set to true, the controller will not use any feedback from the system
+    # (e.g., joint positions, velocities, efforts) to compute the control commands.
+    open_loop_control: false
+    # When set to true, it allows the controller to integrate the trajectory goals it receives.
+    # This means that if the goal trajectory only specifies positions, the controller will
+    # numerically integrate the positions to compute the velocities and accelerations required
+    # to follow the trajectory.
+    allow_integration_in_goal_trajectories: true
+    # Allow non-zero velocity at the end of the trajectory
+    allow_nonzero_velocity_at_trajectory_end: true
diff --git a/coarm_gazebo/launch/coarm_gazebo.launch.py b/coarm_gazebo/launch/coarm_gazebo.launch.py
index 9784a18..daa1a4b 100644
--- a/coarm_gazebo/launch/coarm_gazebo.launch.py
+++ b/coarm_gazebo/launch/coarm_gazebo.launch.py
@@ -148,6 +148,7 @@ def prepare_launch_description():
                 name='joint_state_publisher',
                 parameters=[
                     {'source_list': ['joint_states'], 'rate': 50.0}],
+                    condition=IfCondition(launch_rviz),
             ),
         ]
     )
diff --git a/coarm_gazebo/launch/eye_to_hand_gazebo.launch.py b/coarm_gazebo/launch/eye_to_hand_gazebo.launch.py
index 7499061..5b9d4a2 100644
--- a/coarm_gazebo/launch/eye_to_hand_gazebo.launch.py
+++ b/coarm_gazebo/launch/eye_to_hand_gazebo.launch.py
@@ -191,6 +191,7 @@ def prepare_launch_description():
                 name='joint_state_publisher',
                 parameters=[
                     {'source_list': ['joint_states'], 'rate': 50.0}],
+                condition=IfCondition(launch_rviz)
             ),
         ]
     )
-- 
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