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Add use_sim_hardware flag #11

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9f94681
Add use_sim_hardware flag
thomasonzhou Jul 24, 2025
edc0373
Use hardware_type flag
thomasonzhou Jul 25, 2025
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6 changes: 3 additions & 3 deletions urdf/robot/openarm_robot.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@
ee_type:=''
ros2_control:=false
can_interface:=''
use_fake_hardware:=false
hardware_type:='real'
fake_sensor_commands:=false
no_prefix:='false'
arm_prefix:=''
Expand Down Expand Up @@ -103,7 +103,7 @@
arm_type="${arm_type}"
left_can_interface="${left_can_interface}"
right_can_interface="${right_can_interface}"
use_fake_hardware="${use_fake_hardware}"
hardware_type="${hardware_type}"
fake_sensor_commands="${fake_sensor_commands}"
left_arm_prefix="${left_arm_prefix}"
right_arm_prefix="${right_arm_prefix}"
Expand Down Expand Up @@ -161,7 +161,7 @@
arm_type="${arm_type}"
arm_prefix="${arm_prefix_modified}"
can_interface="${can_interface}"
use_fake_hardware="${use_fake_hardware}"
hardware_type="${hardware_type}"
fake_sensor_commands="${fake_sensor_commands}"
hand="${hand}"
bimanual="false"/>
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4 changes: 2 additions & 2 deletions urdf/robot/v10.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@

<xacro:arg name="right_arm_prefix" default="right_" />

<xacro:arg name="use_fake_hardware" default="false" />
<xacro:arg name="hardware_type" default="real" />

<xacro:arg name="fake_sensor_commands" default="false" />

Expand Down Expand Up @@ -67,7 +67,7 @@
right_can_interface="$(arg right_can_interface)"
left_arm_prefix="$(arg left_arm_prefix)"
right_arm_prefix="$(arg right_arm_prefix)"
use_fake_hardware="$(arg use_fake_hardware)"
hardware_type="$(arg hardware_type)"
fake_sensor_commands="$(arg fake_sensor_commands)"
no_prefix="$(arg no_prefix)"
arm_prefix=""
Expand Down
24 changes: 17 additions & 7 deletions urdf/ros2_control/openarm.bimanual.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,9 @@
params="arm_type
left_can_interface:=^|can1
right_can_interface:=^|can0
use_fake_hardware:=^|false
hardware_type:=^|real
left_websocket_port:=^|1337
right_websocket_port:=^|1338
fake_sensor_commands:=^|false
hand:=^|false
left_arm_prefix:=^|left_
Expand All @@ -16,18 +18,22 @@
<ros2_control name="openarm_left_hardware_interface" type="system">
<hardware>
<param name="arm_type">${arm_type}</param>
<xacro:if value="${use_fake_hardware}">
<xacro:if value="${hardware_type == 'mujoco'}">
<plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
<param name="websocket_port">${left_websocket_port}</param>
</xacro:if>
<xacro:if value="${hardware_type == 'mock'}">
<plugin>fake_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
<xacro:if value="${hardware_type == 'real'}">
<plugin>openarm_hardware/OpenArm_v10HW</plugin>
<param name="can_interface">${left_can_interface}</param>
<param name="arm_prefix">${left_arm_prefix}</param>
<param name="hand">${hand}</param>
<param name="can_fd">${can_fd}</param>
</xacro:unless>
</xacro:if>
</hardware>

<xacro:macro name="configure_joint" params="joint_name initial_position">
Expand Down Expand Up @@ -67,18 +73,22 @@
<ros2_control name="openarm_right_hardware_interface" type="system">
<hardware>
<param name="arm_type">${arm_type}</param>
<xacro:if value="${use_fake_hardware}">
<xacro:if value="${hardware_type == 'mujoco'}">
<plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
<param name="websocket_port">${right_websocket_port}</param>
</xacro:if>
<xacro:if value="${hardware_type == 'mock'}">
<plugin>fake_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
<xacro:if value="${hardware_type == 'real'}">
<plugin>openarm_hardware/OpenArm_v10HW</plugin>
<param name="can_interface">${right_can_interface}</param>
<param name="arm_prefix">${right_arm_prefix}</param>
<param name="hand">${hand}</param>
<param name="can_fd">${can_fd}</param>
</xacro:unless>
</xacro:if>
</hardware>

<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint1" initial_position="0.0"/>
Expand Down
13 changes: 9 additions & 4 deletions urdf/ros2_control/openarm.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -4,24 +4,29 @@
<xacro:macro name="openarm_arm_ros2_control"
params="arm_type
can_interface
use_fake_hardware:=^|false
hardware_type:=^|real
fake_sensor_commands:=^|false
hand:=^|false
gazebo_effort:=^|false
arm_prefix:=''
bimanual:=false
can_fd:=^|true">
can_fd:=^|true
websocket_port:=1337">

<ros2_control name="openarm_hardware_interface" type="system">
<hardware>
<param name="arm_type">${arm_type}</param>
<param name="prefix">${arm_prefix}</param>
<xacro:if value="${use_fake_hardware}">
<xacro:if value="${hardware_type == 'mujoco'}">
<plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
<param name="websocket_port">${websocket_port}</param>
</xacro:if>
<xacro:if value="${hardware_type == 'mock'}">
<plugin>fake_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:if value="${use_fake_hardware == 0}">
<xacro:if value="${hardware_type == 'real'}">
<plugin>openarm_hardware/OpenArm_${arm_type}HW</plugin>
<param name="can_interface">${can_interface}</param>
<param name="arm_prefix">${arm_prefix}</param>
Expand Down