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Centralize CAN Interface #123

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6 changes: 3 additions & 3 deletions src/description/config/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:=can0">

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

<!--
Expand Down Expand Up @@ -39,4 +39,4 @@

</xacro:macro>

</robot>
</robot>
9 changes: 9 additions & 0 deletions src/description/launch/display.launch.py
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Expand Up @@ -10,6 +10,12 @@

def generate_launch_description():
model_arg = DeclareLaunchArgument('model', default_value='', description='Model argument')
can_interface_arg = DeclareLaunchArgument(
'can_interface',
default_value='can0',
description='CAN interface to use for hardware interfaces.',
)
can_interface = LaunchConfiguration('can_interface')

# Get URDF path
robot_description_path = PathJoinSubstitution([
Expand All @@ -25,6 +31,8 @@ def generate_launch_description():
" ",
robot_description_path,
" use_mock_hardware:=true",
" can_interface:=",
can_interface,
]
)

Expand Down Expand Up @@ -120,6 +128,7 @@ def generate_launch_description():

return LaunchDescription([
model_arg,
can_interface_arg,
robot_state_publisher_node,
ros2_control_node,
joint_state_broadcaster_spawner,
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.base_limit_switch.ros2_control.xacro
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@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="base_arm_limit_switch_ros2_control" params="name">
<xacro:macro name="base_arm_limit_switch_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>limit_switch_ros2_control/LimitSwitchHardwareInterface</plugin>
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x130</param>
<param name="update_rate">10</param>
<param name="logger_rate">5</param>
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.end_effector_limit_switch.ros2_control.xacro
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@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="end_effector_limit_switch_ros2_control" params="name">
<xacro:macro name="end_effector_limit_switch_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>limit_switch_ros2_control/LimitSwitchHardwareInterface</plugin>
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x60</param>
<param name="update_rate">10</param>
<param name="logger_rate">5</param>
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.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:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>rmd_ros2_control/RMDHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="shoulder_pitch">
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.rotary_encoder.ros2_control.xacro
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@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="rotary_encoder_ros2_control" params="name">
<xacro:macro name="rotary_encoder_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>rotary_encoder_ros2_control/RotaryEncoderHardwareInterface</plugin>
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x130</param>
<param name="update_rate">10</param>
<param name="logger_rate">5</param>
Expand Down
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:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>servo_ros2_control/SERVOHardwareInterface</plugin>
<param name="update_rate">1</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x80</param>
</hardware>

Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.smc_2dof.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="smc_2dof_ros2_control" params="name">
<xacro:macro name="smc_2dof_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>smc_ros2_control/SMCHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="base_yaw">
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.smc_3dof.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="smc_3dof_ros2_control" params="name">
<xacro:macro name="smc_3dof_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>smc_ros2_control/SMCHardwareInterface</plugin>
<param name="update_rate">10</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="base_yaw">
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.talon_2dof.ros2_control.xacro
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@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="talon_2dof_ros2_control" params="name deactivate_talon">
<xacro:macro name="talon_2dof_ros2_control" params="name deactivate_talon can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<param name="deactivate_talon">${deactivate_talon}</param>
Expand All @@ -12,7 +12,7 @@
<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">can1</param>
<param name="can_interface">${can_interface}</param>
</xacro:unless>
</hardware>

Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/arm/arm.talon_3dof.ros2_control.xacro
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@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="talon_3dof_ros2_control" params="name deactivate_talon">
<xacro:macro name="talon_3dof_ros2_control" params="name deactivate_talon can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<xacro:if value="${deactivate_talon}">
Expand All @@ -11,7 +11,7 @@
<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">can1</param>
<param name="can_interface">${can_interface}</param>
</xacro:unless>
</hardware>

Expand Down
2 changes: 1 addition & 1 deletion src/description/ros2_control/drive/drive.led.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="led_ros2_control" params="name can_interface">
<xacro:macro name="led_ros2_control" params="name can_interface:=can0">

<ros2_control name="${name}" type="system">
<hardware>
Expand Down
6 changes: 3 additions & 3 deletions src/description/ros2_control/drive/drive.odrive.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="odrive_ros2_control" params="name deactivate_odrive">
<xacro:macro name="odrive_ros2_control" params="name deactivate_odrive can_interface:=can0">

<ros2_control name="${name}" type="system">
<hardware>
Expand All @@ -14,7 +14,7 @@
<param name="update_rate">30</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can">can1</param>
<param name="can">${can_interface}</param>
</xacro:unless>
</hardware>

Expand Down Expand Up @@ -50,4 +50,4 @@

</xacro:macro>

</robot>
</robot>
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:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>rmd_ros2_control/RMDHardwareInterface</plugin>
<param name="update_rate">30</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can1</param>
<param name="can_interface">${can_interface}</param>
</hardware>

<joint name="propulsion_fl_joint">
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/science/science.dc.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="dc_ros2_control" params="name">
<xacro:macro name="dc_ros2_control" params="name can_interface:=can0">

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

Expand All @@ -10,7 +10,7 @@
<param name="update_rate">20</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">0x70</param>
</hardware>

Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/science/science.led.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="science_led_ros2_control" params="name">
<xacro:macro name="science_led_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>led_ros2_control/LEDHardwareInterface</plugin>
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x110</param>
<param name="update_rate">10</param>
<param name="logger_rate">5</param>
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/science/science.limit_switch.ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="science_limit_switch_ros2_control" params="name">
<xacro:macro name="science_limit_switch_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>limit_switch_ros2_control/LimitSwitchHardwareInterface</plugin>
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x100</param>
<param name="update_rate">10</param>
<param name="logger_rate">5</param>
Expand Down
4 changes: 2 additions & 2 deletions src/description/ros2_control/science/science.servo.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="servo_ros2_control" params="name">
<xacro:macro name="servo_ros2_control" params="name can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<plugin>servo_ros2_control/SERVOHardwareInterface</plugin>
<param name="update_rate">20</param> <!-- Hz -->
<param name="logger_rate">5</param> <!-- Hz -->
<param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
<param name="can_interface">can0</param>
<param name="can_interface">${can_interface}</param>
<param name="can_id">0x80</param>
</hardware>

Expand Down
6 changes: 3 additions & 3 deletions src/description/ros2_control/science/science.stepper.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="stepper_ros2_control" params="name">
<xacro:macro name="stepper_ros2_control" params="name can_interface:=can0">

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

Expand All @@ -10,7 +10,7 @@
<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>
<param name="can_id">0x90</param>
</hardware>

Expand Down Expand Up @@ -52,4 +52,4 @@

</xacro:macro>

</robot>
</robot>
4 changes: 2 additions & 2 deletions src/description/ros2_control/science/science.talon.ros2_control.xacro
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@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="talon_ros2_control" params="name deactivate_talon">
<xacro:macro name="talon_ros2_control" params="name deactivate_talon can_interface:=can0">
<ros2_control name="${name}" type="system">
<hardware>
<param name="deactivate_talon">${deactivate_talon}</param>
Expand All @@ -12,7 +12,7 @@
<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>
</xacro:unless>
</hardware>

Expand Down
21 changes: 11 additions & 10 deletions src/description/urdf/athena_arm.urdf.xacro
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Expand Up @@ -10,6 +10,7 @@
<xacro:arg name="simulation_controllers" default=""/>
<xacro:arg name="use_3dof" default="false"/>
<xacro:arg name="deactivate_talon" default="false"/>
<xacro:arg name="can_interface" default="can0"/>

<!-- Macro Imports -->
<!-- Import athena_arm macro -->
Expand Down Expand Up @@ -56,20 +57,20 @@
</xacro:if>
<xacro:unless value="$(arg use_mock_hardware)"> <!-- HARDWARE -->
<xacro:if value="$(arg use_3dof)">
<xacro:talon_3dof_ros2_control name="talon" deactivate_talon="$(arg deactivate_talon)"/>
<xacro:smc_3dof_ros2_control name="smc"/>
<xacro:talon_3dof_ros2_control name="talon" deactivate_talon="$(arg deactivate_talon)" can_interface="$(arg can_interface)"/>
<xacro:smc_3dof_ros2_control name="smc" can_interface="$(arg can_interface)"/>
</xacro:if>
<xacro:unless value="$(arg use_3dof)">
<xacro:talon_2dof_ros2_control name="talon" deactivate_talon="$(arg deactivate_talon)"/>
<xacro:smc_2dof_ros2_control name="smc"/>
<xacro:talon_2dof_ros2_control name="talon" deactivate_talon="$(arg deactivate_talon)" can_interface="$(arg can_interface)"/>
<xacro:smc_2dof_ros2_control name="smc" can_interface="$(arg can_interface)"/>
</xacro:unless>

<xacro:rmd_ros2_control name="rmd"/>
<xacro:servo_ros2_control name="servo"/>
<xacro:rotary_encoder_ros2_control name="rotary_encoder"/>
<xacro:base_arm_limit_switch_ros2_control name="base_arm_limit_switch"/>
<xacro:end_effector_limit_switch_ros2_control name="end_effector_limit_switch"/>
<!-- <xacro:odrive_ros2_control name="odrive"/> -->
<xacro:rmd_ros2_control name="rmd" can_interface="$(arg can_interface)"/>
<xacro:servo_ros2_control name="servo" can_interface="$(arg can_interface)"/>
<xacro:rotary_encoder_ros2_control name="rotary_encoder" can_interface="$(arg can_interface)"/>
<xacro:base_arm_limit_switch_ros2_control name="base_arm_limit_switch" can_interface="$(arg can_interface)"/>
<xacro:end_effector_limit_switch_ros2_control name="end_effector_limit_switch" can_interface="$(arg can_interface)"/>
<!-- <xacro:odrive_ros2_control name="odrive" can_interface="$(arg can_interface)"/> -->
</xacro:unless>

</robot>
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