From c1f20be4c1e4eb0ac0d4453bfdab36b0bd04467e Mon Sep 17 00:00:00 2001 From: Vincenzo Di Pentima Date: Mon, 15 Jul 2024 09:18:38 +0200 Subject: [PATCH] GZ Migration Notes (#42) * Added first version of migration notes --- ur_simulation_gz/doc/migration/jazzy.rst | 35 ++++++++++++++++++++++++ ur_simulation_gz/doc/usage.rst | 2 ++ 2 files changed, 37 insertions(+) create mode 100644 ur_simulation_gz/doc/migration/jazzy.rst diff --git a/ur_simulation_gz/doc/migration/jazzy.rst b/ur_simulation_gz/doc/migration/jazzy.rst new file mode 100644 index 0000000..99c8333 --- /dev/null +++ b/ur_simulation_gz/doc/migration/jazzy.rst @@ -0,0 +1,35 @@ +ur_simulation_gz +^^^^^^^^^^^^^^^^ + +Updated argument name for tf_prefix +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +To have coherency between the driver and the GZ simulation, the launch argument to use tf_prefix has been changed from ``prefix`` to ``tf_prefix``. Moreover, differently from the driver, using such argument for this package requires the user to also provide their own controllers file, as explained in :ref:`tf_prefix for GZ `. + +Update arguments for MoveIt! +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +As part of the restructuring of the ``ur_moveit_config`` pkg, all the arguments that were previously passed to ``ur_moveit.launch.py`` (e.g. ``description_file``, ``safety_limits`` or ``prefix``) have been removed, in favor of the only ``moveit_launch_file`` argument. + +This is due to the underlying assumption for the specified launch file to be part of a custom moveit_config pkg that already contains the correct references to a custom description pkg and related parameters. + +In particular, the +option of specifying a ``tf_prefix`` for the ``ur_moveit_config`` has been removed, hence if it is needed in a GZ simulation with MoveIt!, it is expected to be handled by the user through a proper definition for it in a custom moveit_config. + +Enforce absolute paths in launchfiles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +All launchfiles now expect an absolute path for files that should be used to alter the launch +process (e.g. description file, controllers file). Before it was expecting e.g. a +``description_package`` and a ``description_file`` argument with a relative path to the package. + +The default files have not been changed, so unless you specified your custom package / file +combinations, you won't need to update that to an absolute path. + +Absolute paths can still be generated dynamically using a package + relative path structure inside +other launchfiles or by using ``ros2 pkg prefix`` on the command line. For example, you can do + +.. code-block:: console + + $ ros2 launch ur_gz_simulation ur_sim_control.launch.py ur_type:=ur20 \ + controllers_file:=$(ros2 pkg prefix my_robot_cell_control)/share/my_robot_cell_control/config/ros2_controllers.yaml diff --git a/ur_simulation_gz/doc/usage.rst b/ur_simulation_gz/doc/usage.rst index c468bbe..2fa46ff 100644 --- a/ur_simulation_gz/doc/usage.rst +++ b/ur_simulation_gz/doc/usage.rst @@ -51,6 +51,8 @@ To use a custom robot / scene description, the launch argument ``description_fil $ ros2 launch ur_simulation_gz ur_sim_control.launch.py ur_type:=ur10e description_file:="/home/ubuntu/ur_gz_test.urdf.xacro" rviz_config_file:="/home/ubuntu/rviz_test.rviz" +.. _tf_prefix_gz: + tf_prefix ^^^^^^^^^