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CommonplaceRobotics / iRC_ROS

ROS2 packages for the igus Robot Control
Apache License 2.0
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External CAN controlled gripper ignores hardware_protocol selection #86

Closed cpr-fer closed 1 year ago

cpr-fer commented 1 year ago

Description When starting a robot with the specific gripper in a mode other than CPRCANv2 the gripper still tries to connect to the CAN bus. This is caused by a missing if statement and not passing the value of hardware_protocol to the gripper.

Your environment

ROS Distro: Humble
OS Version: Ubuntu 22.04
Branch/Commit hash: humble #[64b46e5](https://github.com/CommonplaceRobotics/iRC_ROS/commit/64b46e5a72ad058af95bd1ce5d3ea5aed911f18e)

To Reproduce

  1. Launch a random robot launch file with gripper:=ext_can
  2. See that the CAN hardware interface is started

Expected behavior The gripper should be loaded, but only the description part, not the ros2_control parts. If it is easy to simulate instead it could also be added.

Actual behavior When starting a robot with the specific gripper in a mode other than CPRCANv2 the gripper still tries to connect to the CAN bus.