modify base origin param

Author: SimonR99

src/ovis_bringup/launch/sim.launch.py

@@ -25,6 +25,12 @@ def generate_launch_description():
         description='Set to "false" to disable joy node.'
     )
 
+    declare_ovis_origin = DeclareLaunchArgument(
+        'ovis_base_origin',
+        default_value='-0.2 0 0.2 0 0 1.57',
+        description='Base origin as "x y z roll pitch yaw"'
+    )
+
 
 
     # Retrieve package directories
@@ -36,7 +42,10 @@ def generate_launch_description():
 
     # Define paths to URDF and world files
     urdf_path = os.path.join(moveit_pkg_path, 'config', 'ovis.urdf.xacro')
-    robot_desc = ParameterValue(Command(['xacro ', urdf_path, ' hardware_type:=', "gazebo"]), value_type=str)
+    robot_desc = ParameterValue(Command(['xacro ', urdf_path,
+        ' hardware_type:=', 'gazebo',
+        ' ovis_base_origin:="', LaunchConfiguration('ovis_base_origin'), '"'
+    ]), value_type=str)
     world_file_name = 'worlds/base_world.world'
     world = os.path.join(pkg_ovis_description, world_file_name)
 
@@ -93,10 +102,7 @@ def generate_launch_description():
         package='ros_gz_sim',
         executable='create',
         arguments=['-name', 'ovis',
-                   '-topic', '/ovis/robot_description',
-                   '-x', '0',
-                   '-y', '0',
-                   '-z', '0.1'],
+                   '-topic', '/ovis/robot_description'],
         output='screen'
     )
 
@@ -129,6 +135,7 @@ def generate_launch_description():
     return LaunchDescription([
             declare_with_rove_arg,
             declare_with_joy_arg,
+            declare_ovis_origin,
             SetParameter(name='use_sim_time', value=True),
             static_tf,
             RegisterEventHandler(

src/ovis_description/urdf/ovis_standalone.urdf.xacro

@@ -2,7 +2,7 @@
 
 <robot name="ovis" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <xacro:property name="ovis_base_origin" value="-0.2 0 0.2 0 0 0" />
+    <xacro:property name="ovis_base_origin" value="$(arg ovis_base_origin)" />
 
     <xacro:include filename="$(find ovis_description)/urdf/gazebo.urdf.xacro" />
     <xacro:include filename="$(find ovis_description)/urdf/ovis2/urdf/ovis.urdf.xacro" />
@@ -19,7 +19,7 @@
         </inertial>
     </link>
 
-    <joint name="fixe_to_base" type="fixed">
+    <joint name="fixed_to_world" type="fixed">
         <parent link="base_link" />
         <child link="ovis_base_link" />
         <xacro:property name="origin_parts" value="${ovis_base_origin.split()}" />

src/ovis_moveit/config/ovis.urdf.xacro

@@ -2,14 +2,19 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ovis">
     <xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
     <xacro:arg name="hardware_type" default="ovis" />
+    <xacro:arg name="ovis_base_origin" default="0 0 0 0 0 0" />
 
     <!-- Import ovis urdf file -->
     <xacro:include filename="$(find ovis_description)/urdf/ovis_standalone.urdf.xacro" />
 
+    <!-- Pass the argument as a property -->
+    <xacro:property name="ovis_base_origin" value="$(arg ovis_base_origin)" />
+
     <!-- Import control_xacro -->
     <xacro:include filename="ovis.ros2_control.xacro" />
 
+    <xacro:ovis_ros2_control name="FakeSystem"
+        initial_positions_file="$(arg initial_positions_file)"
+        hardware_type="$(arg hardware_type)" />
 
-    <xacro:ovis_ros2_control name="FakeSystem" initial_positions_file="$(arg initial_positions_file)" hardware_type="$(arg hardware_type)"/>
-
-</robot>
+</robot>