Make robot IP launch argument (#327)

* Propagate hardware IP as launch argument * Remove other instances of deprecated IP param
PickNikRobotics · Aug 5, 2024 · cef07c4 · cef07c4
1 parent 4b596bd
commit cef07c4
Show file tree

Hide file tree

Showing 3 changed files with 9 additions and 10 deletions.
diff --git a/src/picknik_ur_base_config/launch/robot_drivers_to_persist.launch.py b/src/picknik_ur_base_config/launch/robot_drivers_to_persist.launch.py
@@ -28,7 +28,9 @@
 
 
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from launch.substitutions import ThisLaunchFileDir
 from launch.launch_description_sources import AnyLaunchDescriptionSource
@@ -44,13 +46,18 @@ def generate_launch_description():
     hardware_config = system_config_parser.get_hardware_config()
     controller_config = system_config_parser.get_ros2_control_config()
 
+    declare_robot_ip = DeclareLaunchArgument(
+        "robot_ip", description="IP address of the robot"
+    )
+    robot_ip = LaunchConfiguration("robot_ip")
+
     dashboard_client_node = Node(
         package="ur_robot_driver",
         executable="dashboard_client",
         name="dashboard_client",
         output="both",
         emulate_tty=True,
-        parameters=[{"robot_ip": hardware_config["ip"]}],
+        parameters=[{"robot_ip": robot_ip}],
     )
 
     protective_stop_manager_node = Node(
@@ -73,7 +80,7 @@ def generate_launch_description():
     tool_comms_launch = IncludeLaunchDescription(
         AnyLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_tool_comms.launch.xml"]),
         launch_arguments={
-            "robot_ip": hardware_config["ip"],
+            "robot_ip": robot_ip,
             "tool_tcp_port": "54321",
             "tool_device_name": "/tmp/ttyUR",
         }.items(),

diff --git a/src/picknik_ur_multi_arm_config/config/config.yaml b/src/picknik_ur_multi_arm_config/config/config.yaml
@@ -21,10 +21,6 @@ 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:

diff --git a/src/picknik_ur_multi_arm_gazebo_config/config/config.yaml b/src/picknik_ur_multi_arm_gazebo_config/config/config.yaml
@@ -28,10 +28,6 @@ hardware:
   # If the MoveIt Pro Agent should launch cameras when simulated.
   launch_cameras_when_simulated: True
 
-  # The robot's IP address.
-  # [Required]
-  ip: "0.0.0.0"
-
   # Specify any additional launch files for running the robot in simulation mode.
   # Used when hardware.simulated is True.
   # [Optional, defaults to a blank launch file if not specified]