WEBVTT 00:00.110 --> 00:06.500 Once we have created the hardware interface and installed it as a plugin for the Ros two Control library, 00:06.530 --> 00:12.770 we can now proceed to use this hardware interface and to ensure that when the robot control system is 00:12.770 --> 00:18.380 started, instead of loading the hardware interface with the simulated motors in Gazebo, we activate 00:18.380 --> 00:20.150 the real hardware interface. 00:20.150 --> 00:23.990 So the Arduino board interface that we have been developing so far. 00:24.790 --> 00:25.560 To do this. 00:25.570 --> 00:32.920 Let's go back in Visual Studio Code modifying the urdf of our robot, which we previously created in 00:32.920 --> 00:35.290 the package Arduino board description. 00:35.290 --> 00:41.050 And for the moment which we have just interfaced with the Ros two Control library in Gazebo. 00:41.050 --> 00:45.040 So basically with the Gazebo Ros two control plugin. 00:45.770 --> 00:51.860 Let's go back to the RDF model and show to the Arduino bot dot Urdf dot Sacro. 00:52.190 --> 00:57.470 And here let's add a new argument to configure the behavior of the Urdf file. 00:57.950 --> 01:02.120 So let's create a new tag called ARG. 01:02.150 --> 01:04.130 That stands for argument. 01:05.840 --> 01:07.370 And let's give it a name. 01:07.910 --> 01:13.340 Let's call this one is seam in order to indicate if we are using. 01:13.340 --> 01:20.600 And so if we are loading the Urdf model for the simulated robot or for the real one, and by default, 01:20.690 --> 01:23.140 let's set this one to true. 01:23.150 --> 01:28.640 So by default, we are always going to load the urdf model for the simulated robot. 01:29.540 --> 01:36.830 We can use this argument to make the urdf model of the robot to behave differently, which means loading 01:36.830 --> 01:42.830 different Ros two plugins depending on whether we are starting the control system for the real robot 01:42.860 --> 01:44.630 or for the simulated one. 01:45.970 --> 01:46.990 Once declared. 01:46.990 --> 01:54.760 So since we have declared this argument here within the Arduino board Urdf, we can also use it in any 01:54.760 --> 01:57.110 of the two files that we are including. 01:57.130 --> 02:02.700 So, for example, let's use this argument here within the Arduino board, Ros, to control. 02:02.710 --> 02:07.990 So let's open this script here in this file, let's add a new group. 02:07.990 --> 02:13.240 So basically a new conditional statement using the tag Sacro. 02:13.930 --> 02:23.260 If so, let's use this group here and let's activate this group only when the value of the argument. 02:24.340 --> 02:29.290 So let's take the argument is sim that you have just created. 02:29.290 --> 02:36.640 So the content all all the tags that you are going to insert here within these two tags will be executed 02:36.640 --> 02:42.190 and so will be loaded only if the argument is sim is set to true. 02:42.580 --> 02:46.100 So in this case, let's use this Arduino interface. 02:46.100 --> 02:49.250 So let's paste it here. 02:49.250 --> 02:55.760 So in this case, if we are using and so we are loading the robot description of the robot, so the 02:55.790 --> 03:00.230 Urdf model for the simulation, then we are going to use this one. 03:00.230 --> 03:03.740 So we are going to use this hardware interface with Gazebo. 03:03.740 --> 03:09.680 So it means that we need to activate the plugins and the interface for the simulated robot. 03:10.410 --> 03:15.260 And within this block, let's also copy the tag for the joint five. 03:15.270 --> 03:20.220 So this one here, so this one is needed only for the simulation. 03:20.220 --> 03:24.720 And this allows the joint five to mimic the behavior of the joint four. 03:24.840 --> 03:32.010 So also this one is only needed for the simulation as in the real robot, there will be an actual transmission. 03:32.010 --> 03:38.400 So there will be an actual system of gears that will make the joint five to mimic the behavior of the 03:38.400 --> 03:39.090 joint four. 03:39.090 --> 03:43.620 So for the real robot, we just need to activate the joint four. 03:44.380 --> 03:50.500 On the other hand, when we are starting the control system for the real robot, so let's use a similar 03:50.500 --> 03:51.130 tag. 03:51.310 --> 03:56.100 So that is called unless. 03:56.500 --> 04:01.900 So unless the argument is SIM is set to true. 04:02.800 --> 04:05.560 So this is quite easy to understand. 04:05.740 --> 04:12.580 So this is only activated if the argument is sim is set to true and this is only activated if the argument 04:12.580 --> 04:14.380 is sim is set to false. 04:14.380 --> 04:21.220 So if we are loading the urdf model for the real robot in this case we want to load a different hardware 04:21.220 --> 04:22.150 interface. 04:22.600 --> 04:25.480 So let's use still the tag hardware. 04:26.300 --> 04:36.830 And in this case we want to load a plugin and the plugin that we want to load is the Arduino boot controller. 04:37.070 --> 04:42.020 And so the one that we called Arduino boot interface. 04:42.350 --> 04:49.460 Regarding this plugin, as you might remember, we have also defined a parameter called port. 04:49.910 --> 04:58.520 So let's set now this parameter that indicates the port to which the Arduino board is connected. 04:58.520 --> 05:03.980 And so the port that the hardware interface has to use for the serial communication. 05:04.160 --> 05:12.920 In my case, this is the port ACM zero and here basically it goes your port. 05:12.920 --> 05:17.210 So the one that you are using to connect the Arduino board to your PC. 05:17.930 --> 05:19.180 For the other joints. 05:19.190 --> 05:25.220 So the configuration of the other joints can remain unchanged since they are going to use the same configuration. 05:25.220 --> 05:28.830 Both in the real robot and also for the simulated one. 05:30.020 --> 05:35.210 Let's conclude also this lesson by updating the controller dot launch dot pi. 05:35.480 --> 05:40.760 So within the Arduino board controller, let's open the controller dot launched file. 05:41.090 --> 05:47.540 And here let's declare an argument that allows us to customize the behavior of this launch file for 05:47.540 --> 05:49.670 the simulation or for the real robot. 05:49.670 --> 05:54.980 So if we are loading the control system for the real robot or for the simulated one. 05:55.760 --> 06:02.330 So let's import a new library from the module actions. 06:02.690 --> 06:07.040 Let's import the declare launch argument. 06:07.400 --> 06:16.100 And let's use it within the generate launch description to create a new object called is same argument. 06:16.100 --> 06:20.930 So to create a new argument for the controller dot launch dot pi file. 06:21.200 --> 06:25.160 So let's create a new instance of the declare launch argument. 06:25.340 --> 06:31.520 The argument is going to be called is sim and by default. 06:32.060 --> 06:34.190 So let's keep the behavior unchanged. 06:34.190 --> 06:36.710 So if we are not passing anything. 06:36.860 --> 06:43.610 Let's set this one to true meaning that we want to activate by default the control system for the simulated 06:43.610 --> 06:44.270 robot. 06:44.900 --> 06:52.160 From now on, when we launch the controller dot launch file, we can also set this argument so we can 06:52.160 --> 06:53.990 set a value for the argument. 06:53.990 --> 06:58.260 Is C Now let's make this launch file to use it. 06:58.260 --> 07:06.300 So to read, which is the value that we assigned to the SIM by importing a new library and from the 07:06.300 --> 07:07.980 launch substitutions. 07:08.550 --> 07:15.210 So from this one, let's import also the launch configuration and let's create a new variable called 07:15.240 --> 07:20.610 is seen as an instance of the launch configuration class. 07:20.610 --> 07:27.150 And so this variable contains the value that is assigned at runtime to the is SIM argument. 07:27.360 --> 07:33.840 So let's take let's read which is the value of the is SIM argument. 07:34.050 --> 07:37.410 Now let's slightly modify this one here. 07:37.410 --> 07:43.410 So this variable here, the robot description as now the urdf model of our robot. 07:43.410 --> 07:47.370 So basically this one also has an argument. 07:47.370 --> 07:53.850 So we also added an argument to this one which indicates which discriminates which type of hardware 07:53.850 --> 07:55.770 interface we want to start. 07:55.950 --> 08:05.520 And so let's set here, let's pass an argument to this command that is the is SIM that we have just 08:05.520 --> 08:06.270 created. 08:06.270 --> 08:09.600 And let's set this one to false. 08:10.760 --> 08:20.570 So let's load the robot description by setting the Is argument to false and also regarding the robot 08:20.570 --> 08:21.680 state publisher. 08:21.710 --> 08:27.890 Now, in the control system, we want to start the robot state PowerShell only if we are using. 08:27.890 --> 08:32.230 So only if we are launching the control system for the real robot. 08:32.240 --> 08:36.770 As if you remember if we launch the simulated robot. 08:36.800 --> 08:43.730 So if we go into the description, launch the gazebo here, it's already started. 08:43.730 --> 08:45.410 The robot state publisher. 08:45.410 --> 08:51.920 So in the controller launch, we want to start the robot state publisher only if this one. 08:51.920 --> 08:56.120 So this argument here, the is SIM argument is set to false. 08:56.480 --> 09:03.290 So now let's import from the launch library and from the conditions module. 09:03.620 --> 09:12.390 Let's import the class unless condition and so let's use it here in order to indicate that we want to 09:12.390 --> 09:13.740 execute this one. 09:14.850 --> 09:24.060 Unless so, let's use the unless condition, unless this node is started with the argument is set to 09:24.090 --> 09:24.600 true. 09:25.050 --> 09:28.320 So let's pass the argument is a C. 09:28.620 --> 09:34.560 So basically what we are saying is that we want to start the robot state publisher only if we are starting 09:34.560 --> 09:38.640 the control system for the real robot in this launch file. 09:38.640 --> 09:45.510 Let's also start a new node and this is the controller. 09:47.400 --> 09:52.020 Manager and this is an instance still of the Node class. 09:52.020 --> 09:56.700 And with this node we want to start from the package. 09:59.370 --> 10:00.630 Controller manager. 10:00.660 --> 10:11.550 From this one, we want to start the executable that is called Ros to control Node. 10:11.760 --> 10:15.900 And also we want to pass the configuration parameters of this node. 10:15.930 --> 10:21.480 So let's pass some parameters and let's include the robot description. 10:21.660 --> 10:24.750 So let's use a dictionary. 10:24.750 --> 10:30.840 So let's pass the robot description to this dictionary. 10:31.080 --> 10:35.310 So here and this is the variable robot description. 10:35.550 --> 10:37.350 Then let's also pass the argument. 10:37.350 --> 10:50.400 Use some time, then let's also pass the use same time argument and let's set this one equal to the 10:50.670 --> 10:51.750 same argument. 10:51.750 --> 10:54.930 So too the argument is same of the launch file. 10:55.680 --> 10:58.170 Also to the controller manager. 10:58.170 --> 11:00.330 We want to pass the directory. 11:00.330 --> 11:03.790 Where is the configuration of the controller manager? 11:03.810 --> 11:07.770 So basically we want to pass this directory here. 11:07.770 --> 11:14.190 So the directory of this file here in which we have defined all the controllers and all the types of 11:14.190 --> 11:18.120 the controllers that we want to start for the arm and for the gripper. 11:18.650 --> 11:24.920 So still here within the controller manager and after here this dictionary. 11:24.950 --> 11:27.500 Let's use the function. 11:28.920 --> 11:32.420 Voice, but join. 11:32.460 --> 11:40.050 So let's use this one to specify that the directory is within the package. 11:41.040 --> 11:43.950 Arduino Board Controller. 11:46.310 --> 11:52.160 Then within the config folder and the file which contains the configuration for the controller manager 11:52.160 --> 11:53.840 is the one that we have called. 11:55.520 --> 11:59.780 Arduino board controller dot yaml. 12:00.260 --> 12:04.000 Anyway, let's also set that we want to start this node. 12:04.010 --> 12:10.850 So we want to start these functionalities only if we are starting the control system for the real robot. 12:10.850 --> 12:12.920 So not for the simulation. 12:12.920 --> 12:23.450 And so let's set the condition to be unless condition, so unless the argument is a sim is set to true. 12:23.450 --> 12:27.320 So we are doing the same as we did for the robot state publisher node. 12:27.410 --> 12:34.580 So with this we are indicating that both of these nodes will be started only if the launch file that 12:34.580 --> 12:40.100 is called controller approach is started with an argument is set to false. 12:40.100 --> 12:43.340 So to start the control system for the real robot. 12:44.080 --> 12:50.370 Let's conclude this lunch file by adding the new nodes and the new instructions that we have used. 12:50.380 --> 12:52.960 So the is SIM ark. 12:54.160 --> 12:57.220 Let's add the declaration of the argument is SIM. 12:57.220 --> 13:00.400 And then also let's start the controller manager. 13:00.400 --> 13:05.320 So here, let's start the one that we called here. 13:05.320 --> 13:06.430 Controller Manager. 13:09.410 --> 13:15.900 Finally to conclude this lesson and to check that we have not made any mistake, let's compile our workspace. 13:15.920 --> 13:23.930 So let's go to the workspace and let's build it with the Qualcomm build. 13:25.770 --> 13:27.660 The build finished correctly. 13:27.660 --> 13:33.930 And so the next lesson, we can start using these new launch files and also the new hardware interface.