added system config to launch arguments

lbr_bringup/launch/hardware.launch.py

@@ -12,7 +12,8 @@ def generate_launch_description() -> LaunchDescription:
     # launch arguments
     ld.add_action(LBRDescriptionMixin.arg_model())
     ld.add_action(LBRDescriptionMixin.arg_robot_name())
-    ld.add_action(LBRDescriptionMixin.arg_port_id())
+    ld.add_action(LBRROS2ControlMixin.arg_sys_cfg_pkg())
+    ld.add_action(LBRROS2ControlMixin.arg_sys_cfg())
     ld.add_action(LBRROS2ControlMixin.arg_ctrl_cfg_pkg())
     ld.add_action(LBRROS2ControlMixin.arg_ctrl_cfg())
     ld.add_action(LBRROS2ControlMixin.arg_ctrl())

lbr_bringup/lbr_bringup/description.py

@@ -20,12 +20,14 @@ def param_robot_description(
         robot_name: Optional[Union[LaunchConfiguration, str]] = LaunchConfiguration(
             "robot_name", default="lbr"
         ),
-        port_id: Optional[Union[LaunchConfiguration, str]] = LaunchConfiguration(
-            "port_id", default="30200"
-        ),
         mode: Optional[Union[LaunchConfiguration, bool]] = LaunchConfiguration(
             "mode", default="mock"
         ),
+        system_config_path: Optional[
+            Union[LaunchConfiguration, str]
+        ] = PathJoinSubstitution(
+            [LaunchConfiguration("sys_cfg_pkg"), LaunchConfiguration("sys_cfg")]
+        ),
     ) -> Dict[str, str]:
         robot_description = {
             "robot_description": Command(
@@ -43,10 +45,10 @@ def param_robot_description(
                     ".xacro",
                     " robot_name:=",
                     robot_name,
-                    " port_id:=",
-                    port_id,
                     " mode:=",
                     mode,
+                    "system_config_path:=",
+                    system_config_path,
                 ]
             )
         }
@@ -69,15 +71,6 @@ def arg_robot_name(default_value: str = "lbr") -> DeclareLaunchArgument:
             description="The robot's name.",
         )
 
-    @staticmethod
-    def arg_port_id(default_value: str = "30200") -> DeclareLaunchArgument:
-        return DeclareLaunchArgument(
-            name="port_id",
-            default_value=default_value,
-            description="Port ID of the FRI communication. Valid in range [30200, 30209].\n"
-            "\tUsefull in multi-robot setups.",
-        )
-
     @staticmethod
     def arg_mode(default_value: str = "mock") -> DeclareLaunchArgument:
         return DeclareLaunchArgument(
@@ -95,10 +88,6 @@ def arg_mode(default_value: str = "mock") -> DeclareLaunchArgument:
     def param_robot_name() -> Dict[str, LaunchConfiguration]:
         return {"robot_name": LaunchConfiguration("robot_name", default="lbr")}
 
-    @staticmethod
-    def param_port_id() -> Dict[str, LaunchConfiguration]:
-        return {"port_id": LaunchConfiguration("port_id", default="30200")}
-
     @staticmethod
     def param_mode() -> Dict[str, LaunchConfiguration]:
         return {"mode": LaunchConfiguration("mode", default="mock")}

lbr_bringup/lbr_bringup/ros2_control.py

@@ -38,6 +38,22 @@ def arg_ctrl() -> DeclareLaunchArgument:
             ],
         )
 
+    @staticmethod
+    def arg_sys_cfg_pkg() -> DeclareLaunchArgument:
+        return DeclareLaunchArgument(
+            name="sys_cfg_pkg",
+            default_value="lbr_description",
+            description="Package containing the lbr_system_config.yaml file for FRI configurations.",
+        )
+
+    @staticmethod
+    def arg_sys_cfg() -> DeclareLaunchArgument:
+        return DeclareLaunchArgument(
+            name="sys_cfg",
+            default_value="ros2_control/lbr_system_config.yaml",
+            description="The relative path from sys_cfg_pkg to the lbr_system_config.yaml file.",
+        )
+
     @staticmethod
     def arg_use_sim_time() -> DeclareLaunchArgument:
         return DeclareLaunchArgument(

lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst

@@ -14,7 +14,7 @@ This demo implements a simple admittance controller.
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -55,7 +55,7 @@ kinematics to move the robot's end-effector along the z-axis in Cartesian space.
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:

lbr_demos/lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst

@@ -14,7 +14,7 @@ This demo implements a simple admittance controller.
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -54,7 +54,7 @@ This demo implements an admittance controller with a remote center of motion (RC
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:

lbr_demos/lbr_demos_cpp/doc/lbr_demos_cpp.rst

@@ -14,7 +14,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRJointPositionCommandController` and ov
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -72,7 +72,7 @@ Hardware
 ~~~~~~~~
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -96,7 +96,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRTorqueCommandController` and overlays
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``torque`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``torque`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -134,7 +134,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRWrenchCommandController` and overlays
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``wrench`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``wrench`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:

lbr_demos/lbr_demos_py/doc/lbr_demos_py.rst

@@ -14,7 +14,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRJointPositionCommandController` and ov
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -72,7 +72,7 @@ Hardware
 ~~~~~~~~
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -96,7 +96,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRTorqueCommandController` and overlays
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``torque`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``torque`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -134,7 +134,7 @@ This demo uses the :ref:`lbr_fri_ros2::LBRWrenchCommandController` and overlays
 
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``wrench`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``wrench`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``500`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:

lbr_demos/lbr_moveit/doc/lbr_moveit.rst

@@ -62,7 +62,7 @@ MoveIt Servo - Hardware
 ~~~~~~~~~~~~~~~~~~~~~~~
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:
@@ -122,7 +122,7 @@ MoveIt via RViz - Hardware
 ~~~~~~~~~~~~~~~~~~~~~~~~~~
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations:

lbr_demos/lbr_moveit_cpp/doc/lbr_moveit_cpp.rst

@@ -41,7 +41,7 @@ Hardware
 ~~~~~~~~
 #. Client side configurations:
 
-    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_description/ros2_control/lbr_system_config.yaml>`_:octicon:`link-external`
     #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
 
 #. Remote side configurations: