Franka Arm fr3 support

rox_bringup/configs/franka/initial_positions.yaml

@@ -4,4 +4,4 @@ fr3_joint3: 2.5
 fr3_joint4: -1.0
 fr3_joint5: 1.5
 fr3_joint6: 0.0
-fr3_joint7: 0.0
+fr3_joint7: 0.0

rox_bringup/configs/franka/simulation_controllers.yaml

@@ -36,4 +36,5 @@
         fr3_joint4: { p: 600., d: 30., i: 0., i_clamp: 1. }
         fr3_joint5: { p: 250., d: 10., i: 0., i_clamp: 1. }
         fr3_joint6: { p: 150., d: 10., i: 0., i_clamp: 1. }
-        fr3_joint7: { p: 50., d: 5., i: 0., i_clamp: 1. }
+        fr3_joint7: { p: 50., d: 5., i: 0., i_clamp: 1. }
+

rox_bringup/launch/bringup_launch.py

@@ -24,6 +24,7 @@ def execution_stage(context: LaunchContext,
                     scanner_type,
                     use_imu,
                     ur_dc,
+                    dc_control_box,
                     mock_arm,
                     initial_controller_arm,
                     robot_ip,
@@ -41,6 +42,7 @@ def execution_stage(context: LaunchContext,
     # Manipulator launch arguments
     arm_typ = str(arm_type.perform(context))
     use_ur_dc = str(ur_dc.perform(context))
+    use_dc_ctrl_box = str(dc_control_box.perform(context))
     use_mock = str(mock_arm.perform(context))
     gripper_typ = str(gripper_type.perform(context))
     initial_controller_arm_name = str(initial_controller_arm.perform(context))
@@ -70,6 +72,7 @@ def execution_stage(context: LaunchContext,
         " ", 'scanner_type:=', scanner_typ,
         " ", 'use_imu:=', imu_enable,
         " ", 'use_ur_dc:=', use_ur_dc,
+        " ", 'use_dc_control_box:=', use_dc_ctrl_box,
         " ", 'joint_type:=', joint_type
     ]
     if arm_typ != "":
@@ -375,6 +378,11 @@ def generate_launch_description():
             description='Set this argument to True if you have an UR arm with DC variant'
         )
 
+    declare_franka_pwr_variant_cmd = DeclareLaunchArgument(
+            'use_dc_control_box', default_value='False',
+            description='Set this argument to True if you have an UR arm with DC variant'
+        )
+
     declare_mock_arm_cmd = DeclareLaunchArgument(
             'use_mock_arm', default_value='False',
             description="Mock arm and gripper (if available)"
@@ -421,6 +429,7 @@ def generate_launch_description():
             LaunchConfiguration('scanner_type'),
             LaunchConfiguration('imu_enable'),
             LaunchConfiguration('use_ur_dc'),
+            LaunchConfiguration('use_dc_control_box'),
             LaunchConfiguration('use_mock_arm'),
             LaunchConfiguration('initial_controller_arm'),
             LaunchConfiguration('robot_ip'),
@@ -436,6 +445,7 @@ def generate_launch_description():
         declare_scanner_cmd,
         declare_imu_cmd,
         declare_ur_pwr_variant_cmd,
+        declare_franka_pwr_variant_cmd,
         declare_mock_arm_cmd,
         declare_initial_controller_arm_cmd,
         declare_robot_ip_cmd,

rox_bringup/launch/bringup_sim_launch.py

@@ -23,6 +23,7 @@ def execution_stage(context: LaunchContext,
                     d435_enable,
                     scanner_type,
                     ur_dc,
+                    dc_control_box,
                     # gripper_type,
                     headless_sim,
                     use_wall_time):
@@ -36,6 +37,7 @@ def execution_stage(context: LaunchContext,
     d435 = str(d435_enable.perform(context))
     imu = str(imu_enable.perform(context))
     use_ur_dc = str(ur_dc.perform(context))
+    use_dc_control_box = str(dc_control_box.perform(context))
     headless_sim = str(headless_sim.perform(context)).lower()
     use_wall_time = str(use_wall_time.perform(context)) in ('true', 'True')
     joint_type = "fixed"
@@ -95,7 +97,6 @@ def execution_stage(context: LaunchContext,
             arm_manufacturer, 
             'simulation_controllers.yaml'
         )
-        print(f"Using controller config: {controllers_yaml}")
 
         # Generates a final YAML parameter file from the controllers template (with substitutions applied),
         # and returns file_path, shutdown_handler
@@ -132,6 +133,7 @@ def execution_stage(context: LaunchContext,
         " ", 'arm_type:=', arm_typ,
         # " ", 'gripper_type:=', gripper_typ,
         " ", 'use_ur_dc:=', use_ur_dc,
+        " ", 'use_dc_control_box:=', use_dc_control_box,
         " ", 'force_abs_paths:=', "true",
         " ", 'simulation_controllers:=', simulation_controllers,
         " ", 'include_arm_ros2_control:=', include_arm_ros2_control,
@@ -282,6 +284,11 @@ def generate_launch_description():
             description='Set this argument to True if you have an UR arm with DC variant'
         )
 
+    declare_franka_pwr_variant_cmd = DeclareLaunchArgument(
+            'use_dc_control_box', default_value='False',
+            description='Set this argument to True if you have an UR arm with DC variant'
+        )
+
     declare_gripper_type_cmd = DeclareLaunchArgument(
             'gripper_type', default_value='',
             choices=['', '2f_140', '2f_85'],
@@ -307,6 +314,7 @@ def generate_launch_description():
             LaunchConfiguration('d435_enable'),
             LaunchConfiguration('scanner_type'),
             LaunchConfiguration('use_ur_dc'),
+            LaunchConfiguration('use_dc_control_box'),
             # LaunchConfiguration('gripper_type'),
             LaunchConfiguration('headless_simulation'),
             LaunchConfiguration('use_wall_time')
@@ -319,6 +327,7 @@ def generate_launch_description():
         declare_arm_type_cmd,
         declare_rox_type_cmd,
         declare_ur_pwr_variant_cmd,
+        declare_franka_pwr_variant_cmd,
         # declare_gripper_type_cmd,
         declare_headless_sim_cmd,
         declare_use_wall_time_cmd,

rox_description/launch/description_launch.py

@@ -24,6 +24,7 @@ def execution_stage(context: LaunchContext,
                     d435_enable,
                     arm_type,
                     ur_dc,
+                    dc_control_box,
                     use_rviz):
 
     launch_actions = []
@@ -33,6 +34,7 @@ def execution_stage(context: LaunchContext,
     d435 = str(d435_enable.perform(context))
     imu = str(imu_enable.perform(context))
     use_ur_dc = ur_dc.perform(context)
+    use_dc_control_box = dc_control_box.perform(context)
     use_rviz = use_rviz.perform(context)
     use_joint_state_publisher_gui = use_joint_state_publisher_gui.perform(context)
     joint_type = "fixed"
@@ -77,6 +79,7 @@ def execution_stage(context: LaunchContext,
                     " ", 'use_imu:=', imu,
                     " ", 'd435_enable:=', d435,
                     " ", 'use_ur_dc:=', use_ur_dc,
+                    " ", 'use_dc_control_box:=', use_dc_control_box,
                 ]), 
                 value_type=str
             )
@@ -137,6 +140,11 @@ def generate_launch_description():
             'use_ur_dc', default_value='False',
             description='Set this argument to True if you have an UR arm with DC variant'
         )
+
+    declare_franka_pwr_variant_cmd = DeclareLaunchArgument(
+            'use_dc_control_box', default_value='False',
+            description='Set this argument to True if you have an UR arm with DC variant'
+        )
 
     declare_use_rviz_cmd = DeclareLaunchArgument(
             'use_rviz', default_value='True',
@@ -153,6 +161,7 @@ def generate_launch_description():
             LaunchConfiguration('d435_enable'),
             LaunchConfiguration('arm_type'),
             LaunchConfiguration('use_ur_dc'),
+            LaunchConfiguration('use_dc_control_box'),
             LaunchConfiguration('use_rviz')
         ])
 
@@ -164,6 +173,7 @@ def generate_launch_description():
         declare_realsense_cmd,
         declare_arm_type_cmd,
         declare_ur_pwr_variant_cmd,
+        declare_franka_pwr_variant_cmd,
         declare_use_rviz_cmd,
         opq_function
     ])

rox_description/package.xml

@@ -19,13 +19,13 @@
   <exec_depend>ur_robot_driver</exec_depend>
   <exec_depend>ur_simulation_gz</exec_depend>
 
-  <!-- Dependencies for Franka Panda arm (ROS 2 Jazzy) -->
+  <!-- Dependencies for Franka Fr3 arm-->
   <exec_depend>franka_description</exec_depend>
   <exec_depend>franka_msgs</exec_depend>
   <exec_depend>franka_gripper</exec_depend>
   <exec_depend>franka_hw</exec_depend>
   <exec_depend>franka_gazebo</exec_depend>
-  <exec_depend>gazebo_ros</exec_depend>
+
 
   <!-- Dependencies for Realsense D435 -->
   <exec_depend>realsense2_description</exec_depend>

rox_description/urdf/rox.urdf.xacro

@@ -19,6 +19,7 @@ Contributor: Adarsh Karan K P
   <xacro:arg name="arm_parent" default="cabinet_link"/>
   <xacro:arg name="gripper_type" default=""/>
   <xacro:arg name="use_ur_dc" default="false"/>
+  <xacro:arg name="use_dc_control_box" default="false"/>
   <xacro:arg name="force_abs_paths" default="false"/>
   <xacro:arg name="simulation_controllers" default=""/>
   <xacro:arg name="use_mock_hardware" default="false" />
@@ -36,6 +37,7 @@ Contributor: Adarsh Karan K P
   <xacro:property name="joint_typ" value="$(arg joint_type)"/>
   <xacro:property name="arm" value="$(arg arm_type)"/>
   <xacro:property name="ur_dc" value="$(arg use_ur_dc)"/>
+  <xacro:property name="dc_control_box" value="$(arg use_dc_control_box)"/>
   <xacro:property name="gripper" value="$(arg gripper_type)"/>
   <xacro:property name="use_mock" value="$(arg use_mock_hardware)"/>
 
@@ -175,11 +177,11 @@ Contributor: Adarsh Karan K P
     <xacro:if value="${arm == 'fr3'}">
 
       <!-- Different height for AC arm-->
-      <xacro:if value="${ur_dc == False}">
+      <xacro:if value="${dc_control_box == False}">
         <xacro:property name="arm_height" value="0.376" />
       </xacro:if>
 
-      <xacro:if value="${ur_dc == True}">
+      <xacro:if value="${dc_control_box == True}">
         <xacro:property name="arm_height" value="0.276" />
       </xacro:if>
 

rox_description/urdf/xacros/franka_arm.urdf.xacro

@@ -24,7 +24,7 @@
     <xacro:arg name="arm_parent" default="world"/>
     <xacro:arg name="initial_positions_file"
                default="$(find rox_bringup)/configs/franka/initial_joint_positions.yaml"/>
-    <xacro:property name="ur_initial_positions"
+    <xacro:property name="franka_initial_positions"
                     value="${xacro.load_yaml('$(arg initial_positions_file)')}"/>
 
     <xacro:franka_robot
@@ -40,6 +40,7 @@
       ros2_control="$(arg include_arm_ros2_control)"
       description_pkg="franka_description"
       gazebo_effort="false"
+      use_default_controller_yaml="false"
     />
 
     <xacro:unless value="$(arg use_gz)">
@@ -52,7 +53,8 @@
           arm_prefix=""
           gazebo_effort="false"
           use_fake_hardware="$(arg use_mock_hardware)"   
-          fake_sensor_commands="$(arg mock_sensor_commands)"/>
+          fake_sensor_commands="$(arg mock_sensor_commands)"
+          />
       </xacro:if>
     </xacro:unless>
   </xacro:if>