test

src/iiwa_bringup/launch/supported/controllers.launch.py

@@ -1,12 +1,10 @@
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, OpaqueFunction
-from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler
 from launch.event_handlers import OnProcessExit
-from launch.actions import RegisterEventHandler
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from webots_ros2_driver.urdf_spawner import URDFSpawner
 
-
 from iiwa_utils import converter
 
 
@@ -22,6 +20,7 @@ def _setup_controllers(context, *args, **kwargs):
     controller = LaunchConfiguration("controller").perform(context)  # "jtc" | "forward"
     fri_cycle_ms = int(LaunchConfiguration("fri_cycle_ms").perform(context))
     joint_position_tau = LaunchConfiguration("joint_position_tau").perform(context)
+    joint_velocity_tau = LaunchConfiguration("joint_velocity_tau").perform(context)
     update_rate = 1000 // fri_cycle_ms
 
     xacro_args = {"initial_positions_file": initial_positions_file}
@@ -30,6 +29,7 @@ def _setup_controllers(context, *args, **kwargs):
         xacro_args["simulate"] = "true"
     else:
         xacro_args["joint_position_tau"] = joint_position_tau
+        xacro_args["joint_velocity_tau"] = joint_velocity_tau
 
     robot_description = converter.load_robot_description(
         model_path=description,
@@ -139,6 +139,7 @@ def generate_launch_description():
     return LaunchDescription([
         DeclareLaunchArgument("fri_cycle_ms", default_value="5"),
         DeclareLaunchArgument("joint_position_tau", default_value="0.04"),
+        DeclareLaunchArgument("joint_velocity_tau", default_value="0.01"),
         DeclareLaunchArgument("controller", default_value="jtc"),
         OpaqueFunction(function=_setup_controllers),
     ])