Minor fixes on gravity compensation

readme
- used the Github provided warning block
- added empty lines after headers

mode configs
- changed the port setting to the default /dev/ttyDXL
- merged the two mode configs file

launch
- limited choices to wx250s and aloha_wx250s
- improved readability for path concatenations

package.xml
- added dependency for interbotix_xsarm_control

interbotix_ros_xsarms/examples/interbotix_xsarm_gravity_compensation/README.md

@@ -1,13 +1,16 @@
 # interbotix_xsarm_gravity_compensation
 
 ## Overview
+
 This package demos the interbotix_gravity_compensation package on an Interbotix arm.
 As of now, the supported arms include: WidowX-250 6DOF and ALOHA WidowX-250 6DOF.
 
 ## Configuration
+
 Please refer to the documentations for [`mode_configs`](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros2/config.html#mode-configs) and [`motor_specs`](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros2_packages/gravity_compensation.html#configuration) for details.
 
 ## Usage
+
 Run the following launch command where `robot_model` is a mandatory choice between `aloha_wx250s` and `wx250s`, `robot_name` defaults to be the same as `robot_model` but can be anything, `motor_specs` defaults to `<path_to_this_package>/config/motor_specs_<robot_model>.yaml`, and `mode_configs` defaults to `<path_to_this_package>/config/mode_configs_<robot_model>.yaml`:
 ```
 ros2 launch interbotix_xsarm_gravity_compensation interbotix_gravity_compensation.launch.py robot_model:=xxx [robot_name:=xxx] [motor_specs:=xxx]
@@ -22,6 +25,9 @@ ros2 service call /<robot_model>/gravity_compensation_enable std_srvs/srv/SetBoo
 The arm will hold itself against gravity and can be moved freely when the gravity compensation is enabled.
 It will lock in its current position when the gravity compensation is disabled.
 
-**WARNING: the arm WILL torque off and drop for a short period of time while enabling/disabling. Please make sure it is in a resting position or manually held.**
 
-**WARNING: the joints not supporting current control WILL torque off. Please make sure to use arm with at least the first three joints supporting current control, e.g., RX, WX, VX series.**
+> [!WARNING]
+> WARNING: the arm WILL torque off and drop for a short period of time while enabling/disabling. Please make sure it is in a resting position or manually held.
+
+> [!WARNING]
+> WARNING: the joints not supporting current control WILL torque off. Please make sure to use arm with at least the first three joints supporting current control, e.g., RX, WX, VX series.

interbotix_ros_xsarms/examples/interbotix_xsarm_gravity_compensation/config/mode_configs_aloha_wx250s.yaml → interbotix_ros_xsarms/examples/interbotix_xsarm_gravity_compensation/config/mode_configs.yaml

@@ -2,7 +2,7 @@
 # It should be placed in the 'config' directory of any ROS package that builds ontop of the interbotix_xs_sdk.
 # Example values are shown as well. All parameters are mandatory unless stated otherwise
 
-port: /dev/ttyDXL_awx250s                     # Optional; specifies the USB port that connects to the U2D2;
+port: /dev/ttyDXL_awx250s                             # Optional; specifies the USB port that connects to the U2D2;
                                               # if specified, it overwrites the port in the 'motor_configs' yaml file.
                                               # if the 'port' parameter and its value are left out, the port in the 'motor_configs' yaml file is used.
                                               # if the 'port' parameter is specified but the value is not, it defaults to '/dev/ttyDXL'

interbotix_ros_xsarms/examples/interbotix_xsarm_gravity_compensation/launch/interbotix_gravity_compensation.launch.py

@@ -88,7 +88,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             'robot_model',
-            choices=get_interbotix_xsarm_models(),
+            choices=('wx250s', 'aloha_wx250s'),
             description='model type of the Interbotix Arm such as `wx200` or `rx150`.'
         )
     )
@@ -104,13 +104,12 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             'motor_specs',
-            default_value=[
-                PathJoinSubstitution([
-                    FindPackageShare('interbotix_xsarm_gravity_compensation'),
-                    'config']),
-                "/motor_specs_",
+            default_value=[PathJoinSubstitution([
+                FindPackageShare('interbotix_xsarm_gravity_compensation'),
+                'config',
+                "motor_specs_"]),
                 LaunchConfiguration('robot_model'),
-                ".yaml"
+                '.yaml'
             ],
             description="the file path to the 'motor specs' YAML file.",
         )
@@ -121,10 +120,8 @@ def generate_launch_description():
             default_value=[
                 PathJoinSubstitution([
                     FindPackageShare('interbotix_xsarm_gravity_compensation'),
-                    'config']),
-                "/mode_configs_",
-                LaunchConfiguration('robot_model'),
-                ".yaml"
+                    'config',
+                    'mode_configs.yaml'])
             ],
             description="the file path to the 'mode configs' YAML file.",
         )

interbotix_ros_xsarms/examples/interbotix_xsarm_gravity_compensation/package.xml

@@ -10,6 +10,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>interbotix_gravity_compensation</depend>
+  <depend>interbotix_xsarm_control</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>