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make playmotion2 optional and set intial positions for simulation in gazebo #2

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make playmotion2 optional and set intial positions for simulation in gazebo #2

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695ab1b
make playmotion2 optional
Apr 24, 2026
30323d4
added initial pos for arms
Apr 24, 2026
267a5b6
add pal_atc
Apr 30, 2026
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37 changes: 24 additions & 13 deletions tiago_pro_bringup/launch/tiago_pro_bringup.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,9 @@


from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import DeclareLaunchArgument, GroupAction
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration

from launch_pal.include_utils import include_scoped_launch_py_description
from launch_pal.arg_utils import LaunchArgumentsBase
Expand Down Expand Up @@ -50,6 +52,12 @@ class LaunchArguments(LaunchArgumentsBase):
namespace: DeclareLaunchArgument = CommonArgs.namespace
is_public_sim: DeclareLaunchArgument = CommonArgs.is_public_sim
gazebo_version: DeclareLaunchArgument = CommonArgs.gazebo_version
play_motion2: DeclareLaunchArgument = DeclareLaunchArgument(
"play_motion2",
default_value="True",
description="Launch play_motion2",
choices=["True", "False"],
)


def declare_actions(launch_description: LaunchDescription, launch_args: LaunchArguments):
Expand All @@ -74,18 +82,21 @@ def declare_actions(launch_description: LaunchDescription, launch_args: LaunchAr

launch_description.add_action(default_controllers)

play_motion2 = include_scoped_launch_py_description(
pkg_name='tiago_pro_bringup',
paths=['launch', 'tiago_pro_play_motion2.launch.py'],
launch_arguments={"arm_type_right": launch_args.arm_type_right,
"arm_type_left": launch_args.arm_type_left,
"end_effector_right": launch_args.end_effector_right,
"end_effector_left": launch_args.end_effector_left,
"wrist_model_right": launch_args.wrist_model_right,
"wrist_model_left": launch_args.wrist_model_left,
"use_sim_time": launch_args.use_sim_time,
"has_teleop_arms": launch_args.has_teleop_arms
})
play_motion2 = GroupAction(
condition=IfCondition(LaunchConfiguration("play_motion2")),
actions=[include_scoped_launch_py_description(
pkg_name='tiago_pro_bringup',
paths=['launch', 'tiago_pro_play_motion2.launch.py'],
launch_arguments={"arm_type_right": launch_args.arm_type_right,
"arm_type_left": launch_args.arm_type_left,
"end_effector_right": launch_args.end_effector_right,
"end_effector_left": launch_args.end_effector_left,
"wrist_model_right": launch_args.wrist_model_right,
"wrist_model_left": launch_args.wrist_model_left,
"use_sim_time": launch_args.use_sim_time,
"has_teleop_arms": launch_args.has_teleop_arms
})]
)

launch_description.add_action(play_motion2)

Expand Down
4 changes: 2 additions & 2 deletions tiago_pro_description/config/tiago_pro_configuration.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,11 +28,11 @@ tool_changer_left:
default_value: 'True'
end_effector_right:
description: 'End effector model right arm'
choices: ['pal-pro-gripper', 'custom', 'no-end-effector', 'allegro-hand']
choices: ['pal-pro-gripper', 'custom', 'no-end-effector', 'allegro-hand', 'pal-atc']
default_value: 'pal-pro-gripper'
end_effector_left:
description: 'End effector model left arm'
choices: ['pal-pro-gripper', 'custom', 'no-end-effector', 'allegro-hand']
choices: ['pal-pro-gripper', 'custom', 'no-end-effector', 'allegro-hand', 'pal-atc']
default_value: 'pal-pro-gripper'
ft_sensor_right:
description: 'FT sensor model right arm'
Expand Down
4 changes: 2 additions & 2 deletions tiago_pro_description/robots/tiago_pro.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -182,10 +182,10 @@
<xacro:if value="${arm_type_teleop_right not in ['tiago-pro-prototype', 'tiago-pro', 'tiago-pro-s', 'no-arm']}">
<xacro:wrong_arm_type_teleop_right />
</xacro:if>
<xacro:if value="${end_effector_left not in ['pal-pro-gripper', 'custom', 'no-end-effector', 'allegro-hand']}">
<xacro:if value="${end_effector_left not in ['pal-pro-gripper', 'custom', 'no-end-effector', 'allegro-hand', 'pal-atc']}">
<xacro:wrong_end_effector_left />
</xacro:if>
<xacro:if value="${end_effector_right not in ['pal-pro-gripper', 'custom', 'no-end-effector', 'allegro-hand']}">
<xacro:if value="${end_effector_right not in ['pal-pro-gripper', 'custom', 'no-end-effector', 'allegro-hand', 'pal-atc']}">
<xacro:wrong_end_effector_right />
</xacro:if>
<xacro:if value="${end_effector_teleop_left not in ['pal-pro-gripper', 'custom', 'no-end-effector', 'allegro-hand']}">
Expand Down
39 changes: 24 additions & 15 deletions tiago_pro_description/ros2_control/ros2_control.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -37,14 +37,14 @@
<xacro:macro name="ros2_control_arms">
<!-- arm left -->
<xacro:if value="${has_arm_left}">
<xacro:ros2_control_arm name="arm_left_1" reduction="121.0" offset_value="${arm_left_1_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_left_2" reduction="121.0" offset_value="${arm_left_2_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_left_3" reduction="101.0" offset_value="${arm_left_3_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_left_4" reduction="101.0" offset_value="${arm_left_4_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_left_5" reduction="101.0" offset_value="${arm_left_5_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_left_1" reduction="121.0" offset_value="${arm_left_1_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="0.5" />
<xacro:ros2_control_arm name="arm_left_2" reduction="121.0" offset_value="${arm_left_2_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="-1.83" />
<xacro:ros2_control_arm name="arm_left_3" reduction="101.0" offset_value="${arm_left_3_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="-0.47" />
<xacro:ros2_control_arm name="arm_left_4" reduction="101.0" offset_value="${arm_left_4_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="-2.35" />
<xacro:ros2_control_arm name="arm_left_5" reduction="101.0" offset_value="${arm_left_5_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="0.0" />
<xacro:if value="${wrist_model_left != 'short-wrist'}">
<xacro:ros2_control_arm name="arm_left_6" reduction="101.0" offset_value="${arm_left_6_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_left_7" reduction="101.0" offset_value="${arm_left_7_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_left_6" reduction="101.0" offset_value="${arm_left_6_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="-1.2" />
<xacro:ros2_control_arm name="arm_left_7" reduction="101.0" offset_value="${arm_left_7_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="0.0" />
</xacro:if>
<xacro:if value="${has_ft_sensor_left}">
<xacro:include filename="$(find pal_urdf_utils)/urdf/ft_sensors/ftsensor.ros2_control.xacro"/>
Expand All @@ -54,28 +54,33 @@
<xacro:if value="${end_effector_left == 'pal-pro-gripper'}">
<xacro:ros2_control_pal_pro_gripper name="gripper_left" reduction="1.0" />
</xacro:if>
<xacro:if value="${end_effector_left == 'pal-atc'}">
<xacro:ros2_control_pal_atc name="gripper_left" reduction="1.0" />
</xacro:if>
</xacro:if>

<!-- arm right -->
<xacro:if value="${has_arm_right}">
<xacro:ros2_control_arm name="arm_right_1" reduction="121.0" offset_value="${arm_right_1_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_right_2" reduction="121.0" offset_value="${arm_right_2_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_right_3" reduction="101.0" offset_value="${arm_right_3_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_right_4" reduction="101.0" offset_value="${arm_right_4_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_right_5" reduction="101.0" offset_value="${arm_right_5_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_right_1" reduction="121.0" offset_value="${arm_right_1_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="-0.5" />
<xacro:ros2_control_arm name="arm_right_2" reduction="121.0" offset_value="${arm_right_2_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="-1.83" />
<xacro:ros2_control_arm name="arm_right_3" reduction="101.0" offset_value="${arm_right_3_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="0.47" />
<xacro:ros2_control_arm name="arm_right_4" reduction="101.0" offset_value="${arm_right_4_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="-2.35" />
<xacro:ros2_control_arm name="arm_right_5" reduction="101.0" offset_value="${arm_right_5_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="0.0" />
<xacro:if value="${wrist_model_right != 'short-wrist'}">
<xacro:ros2_control_arm name="arm_right_6" reduction="101.0" offset_value="${arm_right_6_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_right_7" reduction="101.0" offset_value="${arm_right_7_joint_offset}" use_sea_transmission="${torque_estimation}" />
<xacro:ros2_control_arm name="arm_right_6" reduction="101.0" offset_value="${arm_right_6_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="-1.2" />
<xacro:ros2_control_arm name="arm_right_7" reduction="101.0" offset_value="${arm_right_7_joint_offset}" use_sea_transmission="${torque_estimation}" initial_position="0.0" />
</xacro:if>
<xacro:if value="${has_ft_sensor_right}">
<xacro:include filename="$(find pal_urdf_utils)/urdf/ft_sensors/ftsensor.ros2_control.xacro"/>
<xacro:ros2_control_force_torque_sensor name="wrist_right_ft_sensor"/>
</xacro:if>

<xacro:if value="${end_effector_right == 'pal-pro-gripper'}">
<!-- pal-pro-gripper -->
<xacro:ros2_control_pal_pro_gripper name="gripper_right" reduction="1.0" />
</xacro:if>
<xacro:if value="${end_effector_right == 'pal-atc'}">
<xacro:ros2_control_pal_atc name="gripper_right" reduction="1.0" />
</xacro:if>
</xacro:if>

<xacro:if value="${has_teleop_arms}">
Expand Down Expand Up @@ -170,6 +175,10 @@
<xacro:if value="${end_effector_left == 'allegro-hand' or end_effector_right == 'allegro-hand' or end_effector_teleop_left == 'allegro-hand' or end_effector_teleop_right == 'allegro-hand'}">
<xacro:include filename="$(find allegro_hand_description)/urdf/allegro_hand.ros2_control.xacro" />
</xacro:if>

<xacro:if value="${end_effector_left == 'pal-atc' or end_effector_right == 'pal-atc'}">
<xacro:include filename="$(find pal_atc_description)/urdf/gripper.ros2_control.xacro" />
</xacro:if>
<!-- calibration offsets -->
<xacro:include filename="$(arg calibration_offset_dir)/calibration_offset.urdf.xacro" />

Expand Down