Make hw_interface-node required-argument optional (#450)

steinmn · web-flow · commit c09807d79b5e · 2022-03-09T13:58:54.000+01:00
The UR-robot is only one part of our roslaunch-setup, so I would like to be able to have the rest of the system (non-UR) continue to run even if the ur_hardware_interface-node dies.
diff --git a/ur_robot_driver/launch/ur10_bringup.launch b/ur_robot_driver/launch/ur10_bringup.launch
@@ -13,6 +13,7 @@
   <arg name="robot_description_file" default="$(find ur_description)/launch/load_ur10.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur10/default_kinematics.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
+  <arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>
 
   <include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true">
     <arg name="use_tool_communication" value="false"/>
diff --git a/ur_robot_driver/launch/ur10e_bringup.launch b/ur_robot_driver/launch/ur10e_bringup.launch
@@ -23,6 +23,7 @@
   <arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
+  <arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>
 
   <include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_robot_driver/launch/ur16e_bringup.launch b/ur_robot_driver/launch/ur16e_bringup.launch
@@ -23,6 +23,7 @@
   <arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
+  <arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>
 
   <include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_robot_driver/launch/ur3_bringup.launch b/ur_robot_driver/launch/ur3_bringup.launch
@@ -13,6 +13,7 @@
   <arg name="robot_description_file" default="$(find ur_description)/launch/load_ur3.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur3/default_kinematics.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
+  <arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>
 
   <include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true">
     <arg name="use_tool_communication" value="false"/>
diff --git a/ur_robot_driver/launch/ur3e_bringup.launch b/ur_robot_driver/launch/ur3e_bringup.launch
@@ -22,6 +22,7 @@
   <arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
+  <arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>
 
   <include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>
diff --git a/ur_robot_driver/launch/ur5_bringup.launch b/ur_robot_driver/launch/ur5_bringup.launch
@@ -13,6 +13,7 @@
   <arg name="robot_description_file" default="$(find ur_description)/launch/load_ur5.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur5/default_kinematics.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
+  <arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>
 
   <include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true">
     <arg name="use_tool_communication" value="false"/>
diff --git a/ur_robot_driver/launch/ur5e_bringup.launch b/ur_robot_driver/launch/ur5e_bringup.launch
@@ -22,6 +22,7 @@
   <arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
+  <arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>
 
   <include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true" />
 </launch>
diff --git a/ur_robot_driver/launch/ur_common.launch b/ur_robot_driver/launch/ur_common.launch
@@ -22,6 +22,7 @@
   <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
   <arg name="robot_description_file" doc="Robot description launch file."/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
+  <arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>
 
   <!-- robot model -->
   <include file="$(arg robot_description_file)">
@@ -53,5 +54,6 @@
     <arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
     <arg name="tool_device_name" value="$(arg tool_device_name)"/>
     <arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
+    <arg name="ur_hardware_interface_node_required" value="$(arg ur_hardware_interface_node_required)"/>
   </include>
 </launch>
diff --git a/ur_robot_driver/launch/ur_control.launch b/ur_robot_driver/launch/ur_control.launch
@@ -31,9 +31,10 @@
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
   <arg name="servoj_gain" default="2000" doc="Specify gain for servoing to position in joint space. A higher gain can sharpen the trajectory."/>
   <arg name="servoj_lookahead_time" default="0.03" doc="Specify lookahead time for servoing to position in joint space. A longer lookahead time can smooth the trajectory."/>
+  <arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>
 
   <!-- Load hardware interface -->
-  <node name="ur_hardware_interface" pkg="ur_robot_driver" type="ur_robot_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
+  <node name="ur_hardware_interface" pkg="ur_robot_driver" type="ur_robot_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="$(arg ur_hardware_interface_node_required)">
     <param name="robot_ip" type="str" value="$(arg robot_ip)"/>
     <param name="reverse_ip" value="$(arg reverse_ip)"/>
     <param name="reverse_port" type="int" value="$(arg reverse_port)"/>
