Overload Configuration for Physical

example_robot_ws Checkpoint

If you are following this guide with example_robot_ws, your workspace should look like branch step12.

config.yaml

Our new config.yaml only has to overload a few fields:

• hardware.simulated - set to false to use our hardware.robot_driver_persist_launch_file.
• hardware.robot_driver_persist_launch_file - update to launch arm and gripper drivers in the drivers container.
• hardware.urdf_params - to tell our *.urdf.xacro to use the physical hardware *_ros2_control.xacro.

based_on_package: example_robot_sim

hardware:
  simulated: false
  robot_driver_persist_launch_file:
    package: "example_robot_hw"
    path: "launch/additional_driver_nodes.launch.py"
  robot_description:
    urdf_params:
        # Use "mock", "mujoco", or "physical"
      - hardware_interface: "physical"

agent_bridge.launch.xml

This launch file is run in the agent container and typically has your camera launch files. This is currently not part of the config.yaml system, so every robot config must have a launch/agent_bridge.launch.xml xml launch file. Here is what a launch file including a camera launch file might look like:

<?xml version="1.0" encoding="UTF-8" ?>
<launch>
  <include
    file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
  />
  <include
    file="$(find-pkg-share example_robot_hw)/launch/camera_driver.launch.py"
  />
</launch>

---

step13 Checkpoint

Your example_robot_ws workspace should now look like branch step13.

note

This guide does not cover populating the CMakeLists.txt or package.xml for your hardware config.