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Use sjtc and generate /clock topic #58

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Use sjtc and generate /clock topic #58

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35eb66a
Use scaled JTC by default
fmauch Oct 12, 2024
a038c26
Add gz_bridge for /clock topic
fmauch Oct 12, 2024
c5458d3
Add dependency on ros_gz_bridge
fmauch Oct 12, 2024
8f586c6
Fix dependency and tests
fmauch Oct 15, 2024
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1 change: 1 addition & 0 deletions ur_simulation_gz/config/ur_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,7 @@ scaled_joint_trajectory_controller:
state_interfaces:
- position
- velocity
speed_scaling_interface_name: ""
state_publish_rate: 100.0
action_monitor_rate: 20.0
allow_partial_joints_goal: false
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13 changes: 12 additions & 1 deletion ur_simulation_gz/launch/ur_sim_control.launch.py
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Expand Up @@ -169,6 +169,16 @@ def launch_setup(context, *args, **kwargs):
}.items(),
)

# Make the /clock topic available in ROS
gz_sim_bridge = Node(
package="ros_gz_bridge",
executable="parameter_bridge",
arguments=[
"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
],
output="screen",
)

nodes_to_start = [
robot_state_publisher_node,
joint_state_broadcaster_spawner,
Expand All @@ -177,6 +187,7 @@ def launch_setup(context, *args, **kwargs):
initial_joint_controller_spawner_started,
gz_spawn_entity,
gz_launch_description,
gz_sim_bridge,
]

return nodes_to_start
Expand Down Expand Up @@ -243,7 +254,7 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
default_value="joint_trajectory_controller",
default_value="scaled_joint_trajectory_controller",
description="Robot controller to start.",
)
)
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4 changes: 3 additions & 1 deletion ur_simulation_gz/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,12 +17,14 @@

<buildtool_depend>ament_cmake</buildtool_depend>

<exec_depend>ros_gz_sim</exec_depend>
<exec_depend>gz_ros2_control</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>launch</exec_depend>
<exec_depend>launch_ros</exec_depend>
<exec_depend>ros_gz_bridge</exec_depend>
<exec_depend>ros_gz_sim</exec_depend>
<exec_depend>rviz2</exec_depend>
<exec_depend>ur_controllers</exec_depend>
<exec_depend>ur_description</exec_depend>
<exec_depend>ur_moveit_config</exec_depend>
<exec_depend>urdf</exec_depend>
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2 changes: 1 addition & 1 deletion ur_simulation_gz/test/test_gz.py
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Expand Up @@ -112,7 +112,7 @@ def tearDownClass(cls):
def init_robot(self):
self._follow_joint_trajectory = ActionInterface(
self.node,
"/joint_trajectory_controller/follow_joint_trajectory",
"/scaled_joint_trajectory_controller/follow_joint_trajectory",
FollowJointTrajectory,
)
# TODO: Replace this timeout with a proper check whether the robot is initialized
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