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Add support for custom controller YAML in Franka ROS2 control #26

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Add support for custom controller YAML in Franka ROS2 control #26

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7b670d0
added args to use custom controller yaml
AshinTheAnvil Nov 26, 2025
c6ac9c9
added args to switch controller yaml
AshinTheAnvil Nov 27, 2025
896e4e5
update the default arg structure
AshinTheAnvil Dec 8, 2025
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7 changes: 5 additions & 2 deletions robots/common/franka_arm.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,8 @@
gazebo:=false
hand:=false
gazebo_effort:=false
arm_prefix:=''">
arm_prefix:=''
controller_yaml:='$(find franka_gazebo_bringup)/config/franka_gazebo_controllers.yaml' ">

<xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
<ros2_control name="${arm_prefix_modified}FrankaHardwareInterface" type="system">
Expand Down Expand Up @@ -104,7 +105,9 @@
<xacro:if value="${gazebo}">
<gazebo>
<plugin filename="franka_gz_ros2_control-system" name="gz_ros2_control::GZROS2ControlPlugin">
<parameters>$(find franka_gazebo_bringup)/config/franka_gazebo_controllers.yaml</parameters>

<parameters>${controller_yaml}</parameters>

</plugin>
</gazebo>
</xacro:if>
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6 changes: 4 additions & 2 deletions robots/common/franka_robot.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,8 @@
no_prefix:='false'
arm_prefix:=''
description_pkg:='franka_description'
connected_to:='base'">
connected_to:='base'
controller_yaml:='' ">

<xacro:include filename="$(find franka_description)/robots/common/utils.xacro" />

Expand Down Expand Up @@ -158,12 +159,13 @@
<xacro:franka_arm_ros2_control
arm_id="${arm_id}"
robot_ip="${robot_ip}"
use_fake_hardware="${use_fake_hardware}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
gazebo="${gazebo}"
hand="${hand}"
gazebo_effort="${gazebo_effort}"
arm_prefix="${arm_prefix}"
controller_yaml="${controller_yaml}"
/>
</xacro:if>

Expand Down