diff --git a/issue.json b/issue.json new file mode 100644 index 00000000..7bc99f6a --- /dev/null +++ b/issue.json @@ -0,0 +1 @@ +{"author":{"id":"U_kgDOC7hpFQ","is_bot":false,"login":"nicco99-prog","name":""},"body":"I would like to customize my Kinova robot by equipping it with a different end-effector instead of the Robotiq grippers. I already have the URDF and Xacro files for this end-effector, and I’d like to use MoveIt to control my robot outside of simulation. Do you have any suggestions?\nEven when I try to remove the gripper and use only the kinova robot without the gripper, I get this kind of error:\n[ros2_control_node-1] [ERROR] [1747672075.483567156] [KortexMultiInterfaceHardware]: Gripper joint name is empty!\n\nPS: Running on ROS2 Jazzy, Ubuntu 24.04\n","labels":[{"id":"LA_kwDOF0UnJs8AAAAB_nQZaA","name":"updated","description":"There is an update on the issue that was not addressed","color":"DA3250"}],"number":287,"title":"Use MoveIt with a different end-effector in place of the Robotiq grippers","url":"https://github.com/Kinovarobotics/ros2_kortex/issues/287"} diff --git a/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro index fd380c63..24237dd3 100644 --- a/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro +++ b/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro @@ -52,9 +52,11 @@ ${connection_inactivity_timeout_ms} "${tf_prefix}" ${use_internal_bus_gripper_comm} - ${gripper_joint_name} - ${gripper_max_velocity} - ${gripper_max_force} + + ${gripper_joint_name} + ${gripper_max_velocity} + ${gripper_max_force} + diff --git a/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro index 09144395..07e69e78 100644 --- a/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro +++ b/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro @@ -52,9 +52,11 @@ ${connection_inactivity_timeout_ms} "${tf_prefix}" ${use_internal_bus_gripper_comm} - ${gripper_joint_name} - ${gripper_max_velocity} - ${gripper_max_force} + + ${gripper_joint_name} + ${gripper_max_velocity} + ${gripper_max_force} + diff --git a/kortex_driver/src/hardware_interface.cpp b/kortex_driver/src/hardware_interface.cpp index 4bbff4e5..95525280 100644 --- a/kortex_driver/src/hardware_interface.cpp +++ b/kortex_driver/src/hardware_interface.cpp @@ -170,16 +170,15 @@ CallbackReturn KortexMultiInterfaceHardware::on_init( gripper_joint_name_ = info_.hardware_parameters["gripper_joint_name"]; if (gripper_joint_name_.empty()) { - RCLCPP_ERROR(LOGGER, "Gripper joint name is empty!"); + RCLCPP_INFO(LOGGER, "No gripper joint name provided, gripper control will be disabled."); } else { RCLCPP_INFO(LOGGER, "Gripper joint name is '%s'", gripper_joint_name_.c_str()); + gripper_command_max_velocity_ = std::stod(info_.hardware_parameters["gripper_max_velocity"]); + gripper_command_max_force_ = std::stod(info_.hardware_parameters["gripper_max_force"]); } - gripper_command_max_velocity_ = std::stod(info_.hardware_parameters["gripper_max_velocity"]); - gripper_command_max_force_ = std::stod(info_.hardware_parameters["gripper_max_force"]); - RCLCPP_INFO_STREAM(LOGGER, "Connecting to robot at " << robot_ip); // connections @@ -280,8 +279,9 @@ CallbackReturn KortexMultiInterfaceHardware::on_init( } if ( - (info_.hardware_parameters["use_internal_bus_gripper_comm"] == "true") || - (info_.hardware_parameters["use_internal_bus_gripper_comm"] == "True")) + !gripper_joint_name_.empty() && + ((info_.hardware_parameters["use_internal_bus_gripper_comm"] == "true") || + (info_.hardware_parameters["use_internal_bus_gripper_comm"] == "True"))) { use_internal_bus_gripper_comm_ = true; RCLCPP_INFO(LOGGER, "Using internal bus communication for gripper!"); @@ -667,21 +667,24 @@ CallbackReturn KortexMultiInterfaceHardware::on_activate( base_command_.add_actuators()->set_position(base_feedback.actuators(i).position()); } - // Initialize gripper - float gripper_initial_position = - base_feedback.interconnect().gripper_feedback().motor()[0].position(); - RCLCPP_INFO(LOGGER, "Gripper initial position is '%f'.", gripper_initial_position); - - // to radians - gripper_command_position_ = gripper_initial_position / 100.0 * 0.81; - - // Initialize interconnect command to current gripper position. - base_command_.mutable_interconnect()->mutable_command_id()->set_identifier(0); - gripper_motor_command_ = - base_command_.mutable_interconnect()->mutable_gripper_command()->add_motor_cmd(); - gripper_motor_command_->set_position(gripper_initial_position); // % position - gripper_motor_command_->set_velocity(gripper_speed_command_); // % speed - gripper_motor_command_->set_force(gripper_force_command_); // % force + // Initialize gripper if internal bus communication is enabled + if (use_internal_bus_gripper_comm_) + { + float gripper_initial_position = + base_feedback.interconnect().gripper_feedback().motor()[0].position(); + RCLCPP_INFO(LOGGER, "Gripper initial position is '%f'.", gripper_initial_position); + + // to radians + gripper_command_position_ = gripper_initial_position / 100.0 * 0.81; + + // Initialize interconnect command to current gripper position. + base_command_.mutable_interconnect()->mutable_command_id()->set_identifier(0); + gripper_motor_command_ = + base_command_.mutable_interconnect()->mutable_gripper_command()->add_motor_cmd(); + gripper_motor_command_->set_position(gripper_initial_position); // % position + gripper_motor_command_->set_velocity(gripper_speed_command_); // % speed + gripper_motor_command_->set_force(gripper_force_command_); // % force + } // Send a first frame base_feedback = base_cyclic_.Refresh(base_command_);