332 demo 25 november

alliander_core/src/alliander_utilities/alliander_utilities/config_objects.py

@@ -244,13 +244,18 @@ class Arm(Platform):
         gripper (bool): Whether the arm has a gripper attached.
         moveit (bool) : Whether to enable MoveIt motion planning.
         ip_address (str): IP address of the arm controller.
+        controller (Literal["fr3_arm_controller", "demo_controller"]): Arm controller to run.
         moveit_config (MoveitConfig): MoveIt configuration settings.
     """
 
     platform_type: str = "Arm"
     gripper: bool = False
     moveit: bool = False
     ip_address: str = "10.15.20.4"
+    controller: Literal[
+        "fr3_arm_controller",
+        "demo_controller",
+    ] = "fr3_arm_controller"
 
     moveit_config: MoveitConfig = field(default_factory=MoveitConfig)
 

alliander_franka/src/alliander_franka/config/controllers.yaml

@@ -14,6 +14,9 @@
       fr3_arm_controller:
         type: joint_trajectory_controller/JointTrajectoryController
 
+      demo_controller:
+        type: franka_example_controllers/CartesianVelocityExampleController
+
   fr3_arm_controller:
     ros__parameters:
       type: joint_trajectory_controller/JointTrajectoryController
@@ -61,3 +64,7 @@
         fr3_joint7:
           goal: 0.01
           trajectory: 0.1
+
+  demo_controller:
+    ros__parameters:
+      robot_type: "fr3"

alliander_franka/src/alliander_franka/launch/controllers.launch.py

@@ -38,11 +38,11 @@ def launch_setup(context: LaunchContext) -> list:
         namespace=arm_config.namespace,
     )
 
-    fr3_arm_controller_spawner = Node(
+    arm_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
         arguments=[
-            "fr3_arm_controller",
+            f"{arm_config.controller}",
             "--switch-timeout",
             str(TIMEOUT),
         ],
@@ -80,7 +80,7 @@ def launch_setup(context: LaunchContext) -> list:
 
     return [
         Register.on_exit(joint_state_broadcaster_spawner, context),
-        Register.on_exit(fr3_arm_controller_spawner, context),
+        Register.on_exit(arm_controller_spawner, context),
         Register.on_start(fr3_gripper, context),
         (
             Register.on_exit(gripper_action_controller_spawner, context)

predefined_configurations.py

@@ -240,7 +240,7 @@ def config_lynx_ouster(self) -> None:  # noqa: D102
     @register_configuration("mm")
     def config_mm(self) -> None:  # noqa: D102
         vehicle = Vehicle("panther", (0, 0, 0.2))
-        arm = Arm("franka", (0, 0, 0.14), gripper=True, moveit=True)
+        arm = Arm("franka", (0.20, 0, 0.20), gripper=True, moveit=True)
 
         link(vehicle, arm)
         self.plat_conf.platforms = [vehicle, arm]
@@ -249,7 +249,7 @@ def config_mm(self) -> None:  # noqa: D102
     def config_mm_velodyne(self) -> None:  # noqa: D102
         vehicle = Vehicle("panther", (0, 0, 0.2))
         vehicle.nav2_config.navigation = True
-        arm = Arm("franka", (0, 0, 0.14), gripper=True, moveit=True)
+        arm = Arm("franka", (0.20, 0, 0.20), gripper=True, moveit=True)
         lidar = Lidar("velodyne", (0.13, -0.13, 0.35))
 
         link(vehicle, arm)
@@ -262,3 +262,18 @@ def config_panther_and_franka(self) -> None:  # noqa: D102
         vehicle = Vehicle("panther", (0, -0.5, 0.2))
         arm = Arm("franka", (0, 0.5, 0))
         self.plat_conf.platforms = [vehicle, arm]
+
+    # Demo configurations:
+    @register_configuration("demo_panther_franka")
+    def config_demo_panther_franka(self) -> None:  # noqa: D102
+        vehicle = Vehicle("panther", (0, 0, 0.2))
+        arm = Arm(
+            "franka",
+            (0.20, 0, 0.20),
+            gripper=True,
+            moveit=True,
+            controller="demo_controller",
+        )
+
+        link(vehicle, arm)
+        self.plat_conf.platforms = [vehicle, arm]