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Refactor subsystems to single use_sim launch argument #82

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4 changes: 2 additions & 2 deletions src/description/config/odrive.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="odrive_ros2_control" params="name">
<xacro:macro name="odrive_ros2_control" params="name can_interface">

<ros2_control name="${name}" type="system">
<hardware>
<plugin>odrive_ros2_control_plugin/ODriveHardwareInterface</plugin>
<param name="can">can0</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<!--
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4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.rmd.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="rmd_ros2_control" params="name">
<xacro:macro name="rmd_ros2_control" params="name can_interface">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>rmd_ros2_control/RMDHardwareInterface</plugin>
<param name="update_rate">2</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="shoulder_pitch">
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4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.servo.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="servo_ros2_control" params="name">
<xacro:macro name="servo_ros2_control" params="name can_interface">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>servo_ros2_control/SERVOHardwareInterface</plugin>
<param name="update_rate">1</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x80</param>
</hardware>

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4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.smc.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="smc_ros2_control" params="name">
<xacro:macro name="smc_ros2_control" params="name can_interface">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>smc_ros2_control/SMCHardwareInterface</plugin>
<param name="update_rate">2</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="base_yaw">
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4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.talon.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="talon_ros2_control" params="name">
<xacro:macro name="talon_ros2_control" params="name can_interface">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>talon_ros2_control/TALONHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="gripper_claw">
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2 changes: 1 addition & 1 deletion src/description/ros2_control/drive/drive.killswitch.ros2_control.xacro
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="killswitch_ros2_control" params="name can_interface:=can0">
<xacro:macro name="killswitch_ros2_control" params="name can_interface">

<ros2_control name="${name}" type="system">
<hardware>
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4 changes: 2 additions & 2 deletions src/description/ros2_control/drive/drive.odrive.ros2_control.xacro
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@@ -1,12 +1,12 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="odrive_ros2_control" params="name">
<xacro:macro name="odrive_ros2_control" params="name can_interface">

<ros2_control name="${name}" type="system">
<hardware>
<plugin>odrive_ros2_control_plugin/ODriveHardwareInterface</plugin>
<param name="can">can0</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="steer_bl_joint">
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4 changes: 2 additions & 2 deletions src/description/ros2_control/drive/drive.rmd.ros2_control.xacro
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@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="rmd_ros2_control" params="name">
<xacro:macro name="rmd_ros2_control" params="name can_interface">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>rmd_ros2_control/RMDHardwareInterface</plugin>
<param name="update_rate">30</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="propulsion_fl_joint">
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2 changes: 1 addition & 1 deletion src/description/ros2_control/science/science.laser.ros2_control.xacro
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="laser_ros2_control" params="name can_interface:=can0">
<xacro:macro name="laser_ros2_control" params="name can_interface">

<ros2_control name="${name}" type="system">

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4 changes: 2 additions & 2 deletions src/description/ros2_control/science/science.servo.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="servo_ros2_control" params="name">
<xacro:macro name="servo_ros2_control" params="name can_interface">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>servo_ros2_control/SERVOHardwareInterface</plugin>
<param name="update_rate">20</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">1</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x80</param>
</hardware>

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4 changes: 2 additions & 2 deletions src/description/ros2_control/science/science.talon.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="talon_ros2_control" params="name">
<xacro:macro name="talon_ros2_control" params="name can_interface">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>talon_ros2_control/TALONHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="talon_auger">
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15 changes: 8 additions & 7 deletions src/description/urdf/athena_arm.urdf.xacro
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Expand Up @@ -5,9 +5,10 @@
<xacro:arg name="prefix" default=""/>
<xacro:arg name="use_mock_hardware" default="false"/>
<xacro:arg name="mock_sensor_commands" default="false"/>
<xacro:arg name="sim_gazebo_classic" default="true"/>
<xacro:arg name="sim_gazebo" default="true"/>
<xacro:arg name="simulation_controllers" default=""/>
<xacro:arg name="use_sim" default="false"/>

<!-- Derive CAN interface name from use_sim -->
<xacro:property name="can_interface" value="${'vcan0' if '$(arg use_sim)' == 'true' else 'can0'}"/>

<!-- Macro Imports -->
<!-- Import athena_arm macro -->
Expand Down Expand Up @@ -44,7 +45,7 @@
<xacro:mock_ros2_control name="mock"/>
</xacro:if>
<xacro:unless value="$(arg use_mock_hardware)"> <!-- HARDWARE -->
<xacro:smc_ros2_control name="smc"/>
<xacro:smc_ros2_control name="smc" can_interface="${can_interface}"/>
<ros2_control name="talon_mock" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
Expand All @@ -58,9 +59,9 @@
<state_interface name="velocity"/>
</joint>
</ros2_control>
<xacro:rmd_ros2_control name="rmd"/>
<xacro:servo_ros2_control name="servo"/>
<!-- <xacro:odrive_ros2_control name="odrive"/> -->
<xacro:rmd_ros2_control name="rmd" can_interface="${can_interface}"/>
<xacro:servo_ros2_control name="servo" can_interface="${can_interface}"/>
<!-- <xacro:odrive_ros2_control name="odrive" can_interface="${can_interface}"/> -->
</xacro:unless>

</robot>
12 changes: 8 additions & 4 deletions src/description/urdf/athena_drive.urdf.xacro
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Expand Up @@ -6,8 +6,12 @@

<xacro:arg name="use_mock_hardware" default="false"/>
<xacro:arg name="mock_sensor_commands" default="false"/>
<xacro:arg name="sim_gazebo" default="true"/>
<xacro:arg name="sim_gazebo" default="false"/>
<xacro:arg name="simulation_controllers" default=""/>
<xacro:arg name="use_sim" default="false"/>

<!-- Derive CAN interface name from use_sim -->
<xacro:property name="can_interface" value="${'vcan0' if '$(arg use_sim)' == 'true' else 'can0'}"/>


<xacro:include filename="$(find description)/urdf/athena_drive/athena_drive_macro.xacro"/>
Expand Down Expand Up @@ -70,14 +74,14 @@
simulation_controllers="$(arg simulation_controllers)"/>
</xacro:if>
<xacro:unless value="$(arg use_mock_hardware)">
<xacro:odrive_ros2_control name="odrive"/>
<xacro:rmd_ros2_control name="rmd"/>
<xacro:odrive_ros2_control name="odrive" can_interface="${can_interface}"/>
<xacro:rmd_ros2_control name="rmd" can_interface="${can_interface}"/>

<!-- LED status indicator (GPIO-based) -->
<xacro:led_ros2_control name="status_led" gpio_pin="25"/>

<!-- Killswitch (CAN-based) -->
<xacro:killswitch_ros2_control name="drive_killswitch"/>
<xacro:killswitch_ros2_control name="drive_killswitch" can_interface="${can_interface}"/>
</xacro:unless>


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10 changes: 7 additions & 3 deletions src/description/urdf/athena_science.urdf.xacro
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Expand Up @@ -3,6 +3,10 @@

<xacro:arg name="use_mock_hardware" default="false"/>
<xacro:arg name="mock_sensor_commands" default="false"/>
<xacro:arg name="use_sim" default="false"/>

<!-- Derive CAN interface name from use_sim -->
<xacro:property name="can_interface" value="${'vcan0' if '$(arg use_sim)' == 'true' else 'can0'}"/>

<xacro:include filename="$(find description)/ros2_control/science/science.mock.ros2_control.xacro"/>

Expand All @@ -28,13 +32,13 @@
<xacro:stepper_ros2_control name="stepper"/>

<!-- Import servo ros2_control description -->
<xacro:servo_ros2_control name="servo"/>
<xacro:servo_ros2_control name="servo" can_interface="${can_interface}"/>

<!-- Import talon ros2_control description -->
<xacro:talon_ros2_control name="talon"/>
<xacro:talon_ros2_control name="talon" can_interface="${can_interface}"/>

<!-- Import laser ros2_control description (CAN-based) -->
<xacro:laser_ros2_control name="spectrometry_laser"/>
<xacro:laser_ros2_control name="spectrometry_laser" can_interface="${can_interface}"/>
</xacro:unless>

</robot>
2 changes: 1 addition & 1 deletion src/hardware_interfaces/ros_odrive/odrive_ros2_control/src/odrive_hardware_interface.cpp
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Expand Up @@ -116,7 +116,7 @@ CallbackReturn ODriveHardwareInterface::on_init(const hardware_interface::Hardwa
return CallbackReturn::ERROR;
}

can_intf_name_ = info_.hardware_parameters["can"];
can_intf_name_ = info_.hardware_parameters["can_interface"];

for (auto& joint : info_.joints) {
axes_.emplace_back(&can_intf_, std::stoi(joint.parameters.at("node_id")), std::stoi(joint.parameters.at("gear_ratio")));
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9 changes: 5 additions & 4 deletions src/infrastructure/umdloop_can/umdloop_can/can_node.py
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Expand Up @@ -7,20 +7,21 @@ class CANNode(Node):
def __init__(self):
super().__init__('can_node')

# Publisher for incoming CAN data
self.declare_parameter('can_interface', 'can0')
can_channel = self.get_parameter('can_interface').get_parameter_value().string_value

self.publisher_ = self.create_publisher(CANA, 'can_rx', 10)

# Subscriber for outgoing CAN data
self.subscription = self.create_subscription(
CANA,
'can_tx',
self.can_send_callback,
10
)

self.can_interface = CANInterface(callback=self.can_rx_callback)
self.can_interface = CANInterface(callback=self.can_rx_callback, channel=can_channel)

self.get_logger().info('CAN Node Initialized')
self.get_logger().info(f'CAN Node Initialized on {can_channel}')

# # Check for new CAN messages at 100Hz
# self.timer = self.create_timer(0.01, self.check_can_messages)
Expand Down
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