Remove usage of YAML variable interpolators (#300)

* Prep for deprecation of interpolating env variables into YAML * update comment * Remove `%>>` expressions * Remove deprecated fields in config.yaml (#315) --------- Co-authored-by: Abishalini Sivaraman <[email protected]>
PickNikRobotics · Jul 22, 2024 · 40976e1 · 40976e1
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diff --git a/src/picknik_ur_base_config/config/config.yaml b/src/picknik_ur_base_config/config/config.yaml
@@ -7,17 +7,10 @@
 # Baseline hardware configuration parameters for MoveIt Pro.
 # [Required]
 hardware:
-  # Used by the ur_description package to set kinematics and geometry for a specific robot type.
-  # You can change this to another UR model but you must update any configuration affected by the different arm size.
-  # UR models in the ur_description package are ur3, ur3e, ur5, ur5e, ur10, ur10e, and ur16e.
-  # [Required]
-  type: ${UR_HARDWARE_TYPE:-ur5e}
-
   # Set simulated to false if you are using this as a configuration for real hardware.
-  # Override-able by setting the $MOCK_HARDWARE environment variable to 'True'.
-  # This allows users to switch between mock and real hardware using the same configuration.
+  # This allows users to switch between mock and real hardware by changing a single parameter with config inheritance.
   # [Required]
-  simulated: ${MOCK_HARDWARE:-true}
+  simulated: true
 
   # If the MoveIt Pro Agent should launch the ros2 controller node.
   # [Optional, default=True]
@@ -28,18 +21,11 @@ hardware:
   # [Optional, default=True]
   launch_robot_state_publisher: True
 
-  # The robot's IP address.
-  # [Required]
-  ip: "0.0.0.0"
-
   # Specify additional launch files for running the robot with real hardware.
   # [Optional, defaults to a blank launch file if not specified]
   robot_driver_persist_launch_file:
     package: "picknik_ur_base_config"
     path: "launch/robot_drivers_to_persist.launch.py"
-  hardware_launch_file:
-    package: "moveit_studio_agent"
-    path: "launch/blank.launch.py"
 
   # Specify any additional launch files for running the robot in simulation mode.
   # Used when hardware.simulated is True.
@@ -65,13 +51,13 @@ hardware:
     # Many of these are specific to the UR descriptions packages, and can be customized as needed.
     # [Optional]
     urdf_params:
-      - name: "%>> hardware.type"
+      - name: "ur5e"
       - prefix: ""
-      - use_fake_hardware: "%>> hardware.simulated"
+      - use_fake_hardware: "true"
       - use_pinch_links: "true"
       - fake_sensor_commands: "false"
       - headless_mode: "true"
-      - robot_ip: "%>> hardware.ip"
+      - robot_ip: "0.0.0.0"
       - joint_limits_parameters_file:
           package: "picknik_ur_base_config"
           path: "config/moveit/joint_limits.yaml"
@@ -81,15 +67,15 @@ hardware:
       - kinematics_parameters_file:
       # Load default_kinematics.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/%>> hardware.type <<%/default_kinematics.yaml"
+          path: "config/ur5e/default_kinematics.yaml"
       - physical_parameters_file:
       # Load physical_parameters.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/%>> hardware.type <<%/physical_parameters.yaml"
+          path: "config/ur5e/physical_parameters.yaml"
       - visual_parameters_file:
       # Load visual_parameters.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/%>> hardware.type <<%/visual_parameters.yaml"
+          path: "config/ur5e/visual_parameters.yaml"
 
 # Sets ROS global params for launch.
 # [Optional]
@@ -98,13 +84,6 @@ ros_global_params:
   # [Optional, default=False]
   use_sim_time: False
 
-# Configure additional, optional features in MoveIt Pro.
-# [Optional]
-optional_feature_params:
-  # Whether or not to use the Formant bridge for over-the-internet comms.
-  # [Optional, default=False]
-  use_formant_bridge: False
-
 # Configuration files for MoveIt.
 # For more information, refer to https://moveit.picknik.ai/main/doc/how_to_guides/moveit_configuration/moveit_configuration_tutorial.html
 # [Required]
@@ -155,13 +134,6 @@ moveit_params:
     allowed_goal_duration_margin: 5.0
     allowed_start_tolerance: 0.01
 
-# Additional configurable parameters for the MoveIt Pro user interface.
-# [Required]
-ui_params:
-  # By default, we use a frame named "grasp_link" for tool grasp pose rendering and planning.
-  # [Required]
-  servo_endpoint_frame_id: "grasp_link"
-
 # Configuration for launching ros2_control processes.
 # [Required, if using ros2_control]
 ros2_control:
@@ -192,12 +164,6 @@ ros2_control:
   # [Optional, default=[]]
   controller_shared_topics: []
 
-# Octomap manager configuration parameters
-octomap_manager:
-  # Input point cloud topic name. The *output* point cloud topic published by
-  # the Octomap manager node is defined in sensors_3d.yaml.
-  input_point_cloud_topic: "/wrist_mounted_camera/depth/color/points"
-
 # Configuration for loading behaviors and objectives.
 # [Required]
 objectives:

diff --git a/src/picknik_ur_gazebo_config/config/config.yaml b/src/picknik_ur_gazebo_config/config/config.yaml
@@ -6,21 +6,16 @@
 based_on_package: "picknik_ur_site_config"
 
 # Optional parameters that can be read in your launch files for specific functionality
-optional_feature_params:
-  gazebo_world_name: "space_station_blocks_world.sdf"
-  gazebo_gui: False
-  gazebo_verbose: True
+# optional_feature_params:
+#   gazebo_world_name: "space_station_blocks_world.sdf"
+#   gazebo_gui: False
+#   gazebo_verbose: True
 
 # Enable simulation time so nodes are synced with the Gazebo block.
 ros_global_params:
   use_sim_time: True
 
 hardware:
-  # Used by the ur_description package to set kinematics and geometry for a specific robot type.
-  # You can change this to another UR model but you must update any configuration affected by the different arm size
-  # UR models in the ur_description package are ur3, ur3e, ur5, ur5e, ur10, ur10e, and ur16e.
-  type: "ur5e"
-
   # This is the only option for this site_config
   simulated: True
 
@@ -31,9 +26,6 @@ hardware:
   # This should be false if you are launching the robot state publisher as part of drivers.
   launch_robot_state_publisher: True
 
-  # The robot's IP address
-  ip: "0.0.0.0"
-
   # The following launch file is started when hardware.simulated is True
   simulated_hardware_launch_file:
     package: "picknik_ur_gazebo_config"
@@ -47,25 +39,22 @@ hardware:
       package: "picknik_ur_gazebo_config"
       path: "config/moveit/picknik_ur_gazebo.srdf.xacro"
     urdf_params:
-      - name: "%>> hardware.type"
+      - name: "ur5e"
       - gripper_name: "robotiq_85"
       - use_pinch_links: "false"
       - simulation: "gazebo"
-      # Using the ogre renderer as it is compatible with most host hardware.
-      # ogre2 (which is the Gazebo default) is also an option if your system supports it.
-      - gazebo_renderer: ${GAZEBO_RENDERER:-ogre}
       - kinematics_parameters_file:
           # Load default_kinematics.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/%>> hardware.type <<%/default_kinematics.yaml"
+          path: "config/ur5e/default_kinematics.yaml"
       - physical_parameters_file:
           # Load physical_parameters.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/%>> hardware.type <<%/physical_parameters.yaml"
+          path: "config/ur5e/physical_parameters.yaml"
       - visual_parameters_file:
           # Load visual_parameters.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/%>> hardware.type <<%/visual_parameters.yaml"
+          path: "config/ur5e/visual_parameters.yaml"
 
 # Override MoveIt parameters
 moveit_params:
@@ -76,11 +65,6 @@ moveit_params:
     package: "picknik_ur_gazebo_config"
     path: "config/moveit/ur_servo.yaml"
 
-octomap_manager:
-  # Input point cloud topic name. The *output* point cloud topic published by
-  # the Octomap manager node is defined in sensors_3d.yaml.
-  input_point_cloud_topic: "/wrist_mounted_camera/depth/color/points"
-
 # This configures what controllers gets run at startup
 ros2_control:
   controllers_active_at_startup:

diff --git a/src/picknik_ur_gazebo_config/launch/sim/hardware_sim.launch.py b/src/picknik_ur_gazebo_config/launch/sim/hardware_sim.launch.py
@@ -59,7 +59,6 @@ def generate_simulation_description(context, *args, **settings):
     )
     use_gui = settings.get("gazebo_gui", False)
     is_verbose = settings.get("gazebo_verbose", False)
-    gz_renderer = os.environ.get("GAZEBO_RENDERER", "ogre")
 
     # Create a Gazebo world file that swaps out package:// paths with absolute path.
     original_world_file = get_ros_path(
@@ -78,7 +77,7 @@ def generate_simulation_description(context, *args, **settings):
     print(f"Starting Gazebo with world at {world_path}")
     print(f"GUI: {use_gui}, Verbose: {is_verbose}")
 
-    sim_args = f"-r --render-engine {gz_renderer}"
+    sim_args = "-r --render-engine ogre"
     if is_verbose:
         sim_args += " -v 4"
     if not use_gui:

diff --git a/src/picknik_ur_mock_hw_config/config/config.yaml b/src/picknik_ur_mock_hw_config/config/config.yaml
@@ -1,9 +1,6 @@
 based_on_package: "picknik_ur_base_config"
 
 hardware:
-
-  # Be sure to set your robot's IP address.
-  ip: "0.0.0.0"
   simulated: True
 
   # Update robot description for machine tending world.

diff --git a/src/picknik_ur_multi_arm_config/config/config.yaml b/src/picknik_ur_multi_arm_config/config/config.yaml
@@ -8,10 +8,9 @@ hardware:
   type: ur5e
 
   # Set simulated to false if you are using this as a configuration for real hardware.
-  # Override-able by setting the $MOCK_HARDWARE environment variable to 'True'.
-  # This allows users to switch between mock and real hardware using the same configuration.
+  # This allows users to switch between mock and real hardware by changing a single parameter with config inheritance.
   # [Required]
-  simulated: ${MOCK_HARDWARE:-true}
+  simulated: true
 
   # If the MoveIt Pro Agent should launch the ros2 controller node.
   # [Optional, default=True]
@@ -61,11 +60,11 @@ hardware:
     urdf_params:
       - name: "multi_arm_ur"
       - prefix: ""
-      - use_fake_hardware: "%>> hardware.simulated"
+      - use_fake_hardware: "true"
       - use_pinch_links: "true"
       - fake_sensor_commands: "false"
       - headless_mode: "true"
-      - robot_ip: "%>> hardware.ip"
+      - robot_ip: "0.0.0.0"
       - joint_limits_parameters_file:
           package: "picknik_ur_base_config"
           path: "config/moveit/joint_limits.yaml"
@@ -75,15 +74,15 @@ hardware:
       - kinematics_parameters_file:
       # Load default_kinematics.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/%>> hardware.type <<%/default_kinematics.yaml"
+          path: "config/ur5e/default_kinematics.yaml"
       - physical_parameters_file:
       # Load physical_parameters.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/%>> hardware.type <<%/physical_parameters.yaml"
+          path: "config/ur5e/physical_parameters.yaml"
       - visual_parameters_file:
       # Load visual_parameters.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/%>> hardware.type <<%/visual_parameters.yaml"
+          path: "config/ur5e/visual_parameters.yaml"
   # Set advanced camera settings to improve point cloud accuracy
   json_file_path:
     package: "picknik_ur_base_config"

diff --git a/src/picknik_ur_multi_arm_gazebo_config/config/config.yaml b/src/picknik_ur_multi_arm_gazebo_config/config/config.yaml
@@ -67,12 +67,9 @@ hardware:
       - gripper_name: "robotiq_85"
       - use_pinch_links: "true"
       - simulation: "gazebo"
-      # Using the ogre renderer as it is compatible with most host hardware.
-      # ogre2 (which is the Gazebo default) is also an option if your system supports it.
-      - gazebo_renderer: ${GAZEBO_RENDERER:-ogre}
       - fake_sensor_commands: "false"
       - headless_mode: "true"
-      - robot_ip: "%>> hardware.ip"
+      - robot_ip: "0.0.0.0"
       - joint_limits_parameters_file:
           package: "picknik_ur_base_config"
           path: "config/moveit/joint_limits.yaml"
@@ -82,15 +79,15 @@ hardware:
       - kinematics_parameters_file:
       # Load default_kinematics.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/%>> hardware.type <<%/default_kinematics.yaml"
+          path: "config/ur5e/default_kinematics.yaml"
       - physical_parameters_file:
       # Load physical_parameters.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/%>> hardware.type <<%/physical_parameters.yaml"
+          path: "config/ur5e/physical_parameters.yaml"
       - visual_parameters_file:
       # Load visual_parameters.yaml from ur_description/config/<ur_type>
           package: "ur_description"
-          path: "config/%>> hardware.type <<%/visual_parameters.yaml"
+          path: "config/ur5e/visual_parameters.yaml"
 
 # Sets ROS global params for launch.
 # [Optional]

diff --git a/src/picknik_ur_multi_arm_gazebo_config/launch/sim/hardware_sim.launch.py b/src/picknik_ur_multi_arm_gazebo_config/launch/sim/hardware_sim.launch.py
@@ -59,7 +59,6 @@ def generate_simulation_description(context, *args, **settings):
     )
     use_gui = settings.get("gazebo_gui", False)
     is_verbose = settings.get("gazebo_verbose", False)
-    gz_renderer = os.environ.get("GAZEBO_RENDERER", "ogre")
 
     # Create a Gazebo world file that swaps out package:// paths with absolute path.
     original_world_file = get_ros_path(
@@ -78,7 +77,7 @@ def generate_simulation_description(context, *args, **settings):
     print(f"Starting Gazebo with world at {world_path}")
     print(f"GUI: {use_gui}, Verbose: {is_verbose}")
 
-    sim_args = f"-r --render-engine {gz_renderer}"
+    sim_args = "-r --render-engine ogre"
     if is_verbose:
         sim_args += " -v 4"
     if not use_gui:

diff --git a/src/picknik_ur_site_config/config/config.yaml b/src/picknik_ur_site_config/config/config.yaml
@@ -1,10 +1,5 @@
 based_on_package: "picknik_ur_base_config"
 
-hardware:
-
-  # Be sure to set your robot's IP address.
-  ip: "0.0.0.0"
-
 objectives:
   behavior_loader_plugins: {}
   objective_library_paths: