back-port use_fake_hardware parameter in ur_moveit.launch.py to Galac…

…tic (#464) (#470)

* add ur_moveit.launch.py parameter to use working controller when using fake hardware (#464)

add script parameter to use correct controller when using fake hardware

* Fix selecting the right controller given fake_hw

This was falsely introduced earlier. This is a working version.

Co-authored-by: adverley <[email protected]>
Co-authored-by: Felix Exner <[email protected]>

ur_moveit_config/launch/ur_moveit.launch.py

@@ -43,6 +43,7 @@ def launch_setup(context, *args, **kwargs):
 
     # Initialize Arguments
     ur_type = LaunchConfiguration("ur_type")
+    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
     safety_limits = LaunchConfiguration("safety_limits")
     safety_pos_margin = LaunchConfiguration("safety_pos_margin")
     safety_k_position = LaunchConfiguration("safety_k_position")
@@ -159,6 +160,12 @@ def launch_setup(context, *args, **kwargs):
 
     # Trajectory Execution Configuration
     controllers_yaml = load_yaml("ur_moveit_config", "config/controllers.yaml")
+    # the scaled_joint_trajectory_controller does not work on fake hardware
+    change_controllers = context.perform_substitution(use_fake_hardware)
+    if change_controllers == "true":
+        controllers_yaml["scaled_joint_trajectory_controller"]["default"] = False
+        controllers_yaml["joint_trajectory_controller"]["default"] = True
+
     moveit_controllers = {
         "moveit_simple_controller_manager": controllers_yaml,
         "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
@@ -262,6 +269,13 @@ def generate_launch_description():
             choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_fake_hardware",
+            default_value="false",
+            description="Indicate whether robot is running with fake hardware mirroring command to its states.",
+        )
+    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "safety_limits",