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Merged
florent-lamiraux merged 2 commits into from
Jul 10, 2026
Merged

[tutorial_1] Checkout main branch of hpp-rviz. #189

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f6587fd
[tutorial_1] Checkout main branch of hpp-rviz.
florent-lamiraux Jul 10, 2026
3175dfa
[tutorial_7|8] Rename some files and fix missing file.
florent-lamiraux Jul 10, 2026
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81 changes: 6 additions & 75 deletions launch/tutorial_7_launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
"""Launch Franka FR3 with gripper in Gazebo for HPP tutorial 7 (pick and place).
"""Launch Franka fr3 in Gazebo with a joint_trajectory_controller for HPP tutorial 6.

Usage (inside the docker container):
ros2 launch /home/user/devel/install/share/hpp_tutorial/tutorial_7/launch_sim.py
ros2 launch hpp_tutorial tutorial_7/launch_sim.py
"""

import os
Expand Down Expand Up @@ -37,30 +37,13 @@ def get_robot_description_and_controllers(context: LaunchContext, robot_type):
franka_xacro,
mappings={
"robot_type": robot_type_str,
"hand": "true",
"hand": "false",
"ros2_control": "true",
"gazebo": "true",
"ee_id": "franka_hand",
},
).toxml()

detachable_joint_plugin = f"""
<gazebo>
<plugin filename="gz-sim-detachable-joint-system" name="gz::sim::systems::DetachableJoint">
<parent_link>{robot_type_str}_hand</parent_link>
<child_model>box</child_model>
<child_link>base_link</child_link>
<attach_topic>/box/attach</attach_topic>
<detach_topic>/box/detach</detach_topic>
<suppress_child_warning>true</suppress_child_warning>
</plugin>
</gazebo>
</robot>
"""
robot_description_xml = robot_description_xml.replace(
"</robot>", detachable_joint_plugin
)

# Replace the Franka default controllers YAML with our tutorial controllers
franka_controllers = os.path.join(
get_package_share_directory("franka_gazebo_bringup"),
Expand All @@ -78,6 +61,7 @@ def get_robot_description_and_controllers(context: LaunchContext, robot_type):
parameters=[{"robot_description": robot_description_xml}],
)

# Spawn controllers using ros2_control spawner
spawn_jsb = Node(
package="controller_manager",
executable="spawner",
Expand All @@ -92,21 +76,11 @@ def get_robot_description_and_controllers(context: LaunchContext, robot_type):
output="screen",
)

spawn_gripper = Node(
package="controller_manager",
executable="spawner",
arguments=["gripper_controller"],
output="screen",
)

return [robot_state_publisher, spawn_jsb, spawn_jtc, spawn_gripper]
return [robot_state_publisher, spawn_jsb, spawn_jtc]


def generate_launch_description():
robot_type = LaunchConfiguration("robot_type")
tutorial_share = get_package_share_directory("hpp_tutorial")
box_urdf = os.path.join(tutorial_share, "urdf", "box.urdf")
ground_urdf = os.path.join(tutorial_share, "urdf", "ground.urdf")

# Gazebo Sim
os.environ["GZ_SIM_RESOURCE_PATH"] = os.path.dirname(
Expand All @@ -130,51 +104,10 @@ def generate_launch_description():
output="screen",
)

spawn_box = Node(
package="ros_gz_sim",
executable="create",
arguments=[
"-name",
"box",
"-file",
box_urdf,
"-x",
"0.4",
"-y",
"-0.2",
"-z",
"0.0251",
],
output="screen",
)

spawn_ground = Node(
package="ros_gz_sim",
executable="create",
arguments=[
"-name",
"ground",
"-file",
ground_urdf,
"-x",
"0.0",
"-y",
"0.0",
"-z",
"0.0",
],
output="screen",
)

bridge = Node(
package="ros_gz_bridge",
executable="parameter_bridge",
arguments=[
"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
"/box/attach@std_msgs/msg/Empty]gz.msgs.Empty",
"/box/detach@std_msgs/msg/Empty]gz.msgs.Empty",
"/world/empty/set_pose@ros_gz_interfaces/srv/SetEntityPose",
],
arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"],
output="screen",
)

Expand All @@ -186,8 +119,6 @@ def generate_launch_description():
function=get_robot_description_and_controllers, args=[robot_type]
),
spawn,
spawn_ground,
spawn_box,
bridge,
]
)
83 changes: 76 additions & 7 deletions launch/tutorial_6_launch.py → launch/tutorial_8_launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
"""Launch Franka fr3 in Gazebo with a joint_trajectory_controller for HPP tutorial 6.
"""Launch Franka FR3 with gripper in Gazebo for HPP tutorial 8 (pick and place).

Usage (inside the docker container):
ros2 launch hpp_tutorial tutorial_6/launch_sim.py
ros2 launch /home/user/devel/install/share/hpp_tutorial/tutorial_8/launch_sim.py
"""

import os
Expand All @@ -23,7 +23,7 @@ def get_robot_description_and_controllers(context: LaunchContext, robot_type):
robot_type_str = context.perform_substitution(robot_type)

tutorial_dir = os.path.join(
get_package_share_directory("hpp_tutorial"), "tutorial_6"
get_package_share_directory("hpp_tutorial"), "tutorial_8"
)
controllers_yaml = os.path.join(tutorial_dir, "controllers.yaml")

Expand All @@ -37,13 +37,30 @@ def get_robot_description_and_controllers(context: LaunchContext, robot_type):
franka_xacro,
mappings={
"robot_type": robot_type_str,
"hand": "false",
"hand": "true",
"ros2_control": "true",
"gazebo": "true",
"ee_id": "franka_hand",
},
).toxml()

detachable_joint_plugin = f"""
<gazebo>
<plugin filename="gz-sim-detachable-joint-system" name="gz::sim::systems::DetachableJoint">
<parent_link>{robot_type_str}_hand</parent_link>
<child_model>box</child_model>
<child_link>base_link</child_link>
<attach_topic>/box/attach</attach_topic>
<detach_topic>/box/detach</detach_topic>
<suppress_child_warning>true</suppress_child_warning>
</plugin>
</gazebo>
</robot>
"""
robot_description_xml = robot_description_xml.replace(
"</robot>", detachable_joint_plugin
)

# Replace the Franka default controllers YAML with our tutorial controllers
franka_controllers = os.path.join(
get_package_share_directory("franka_gazebo_bringup"),
Expand All @@ -61,7 +78,6 @@ def get_robot_description_and_controllers(context: LaunchContext, robot_type):
parameters=[{"robot_description": robot_description_xml}],
)

# Spawn controllers using ros2_control spawner
spawn_jsb = Node(
package="controller_manager",
executable="spawner",
Expand All @@ -76,11 +92,21 @@ def get_robot_description_and_controllers(context: LaunchContext, robot_type):
output="screen",
)

return [robot_state_publisher, spawn_jsb, spawn_jtc]
spawn_gripper = Node(
package="controller_manager",
executable="spawner",
arguments=["gripper_controller"],
output="screen",
)

return [robot_state_publisher, spawn_jsb, spawn_jtc, spawn_gripper]


def generate_launch_description():
robot_type = LaunchConfiguration("robot_type")
tutorial_share = get_package_share_directory("hpp_tutorial")
box_urdf = os.path.join(tutorial_share, "urdf", "box.urdf")
ground_urdf = os.path.join(tutorial_share, "urdf", "ground.urdf")

# Gazebo Sim
os.environ["GZ_SIM_RESOURCE_PATH"] = os.path.dirname(
Expand All @@ -104,10 +130,51 @@ def generate_launch_description():
output="screen",
)

spawn_box = Node(
package="ros_gz_sim",
executable="create",
arguments=[
"-name",
"box",
"-file",
box_urdf,
"-x",
"0.4",
"-y",
"-0.2",
"-z",
"0.0251",
],
output="screen",
)

spawn_ground = Node(
package="ros_gz_sim",
executable="create",
arguments=[
"-name",
"ground",
"-file",
ground_urdf,
"-x",
"0.0",
"-y",
"0.0",
"-z",
"0.0",
],
output="screen",
)

bridge = Node(
package="ros_gz_bridge",
executable="parameter_bridge",
arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"],
arguments=[
"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
"/box/attach@std_msgs/msg/Empty]gz.msgs.Empty",
"/box/detach@std_msgs/msg/Empty]gz.msgs.Empty",
"/world/empty/set_pose@ros_gz_interfaces/srv/SetEntityPose",
],
output="screen",
)

Expand All @@ -119,6 +186,8 @@ def generate_launch_description():
function=get_robot_description_and_controllers, args=[robot_type]
),
spawn,
spawn_ground,
spawn_box,
bridge,
]
)
2 changes: 1 addition & 1 deletion tutorial_1/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ hpp-exec_branch=${HPP_VERSION}
hpp-exec_repository=${HPP_REPO}
hpp-exec_extra_flags=${PYTHON_FLAGS}

hpp-rviz_branch=${HPP_VERSION}
hpp-rviz_branch=main
hpp-rviz_repository=${HPP_REPO}
hpp-rviz_extra_flags=${HPP_EXTRA_FLAGS}

Expand Down
4 changes: 2 additions & 2 deletions tutorial_7/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ Launch the Gazebo simulation with
a `joint_trajectory_controller`:

```
ros2 launch hpp_tutorial tutorial_6_launch.py
ros2 launch hpp_tutorial tutorial_7_launch.py
```

Wait until you see `Configured and activated joint_trajectory_controller` in the
Expand All @@ -34,7 +34,7 @@ docker exec -it hpp bash
Source the environments and run the tutorial script:

```
cd ~/devel/src/hpp_tutorial/tutorial_6
cd ~/devel/src/hpp_tutorial/tutorial_7
python -i init.py
```

Expand Down
6 changes: 3 additions & 3 deletions tutorial_8/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@ Having completed [tutorial 7](../tutorial_7/README.md).

## Overview

Tutorial 6 executed one arm trajectory with `send_trajectory`. This tutorial
Tutorial 7 executed one arm trajectory with `send_trajectory`. This tutorial
adds the gripper: the robot must open the fingers before approaching the box,
close them before transport, then open them again at the goal.

Expand Down Expand Up @@ -46,7 +46,7 @@ docker exec -it hpp bash
Run the tutorial script:

```
cd ~/devel/src/hpp_tutorial/tutorial_7
cd ~/devel/src/hpp_tutorial/tutorial_8
python -i init.py
```

Expand Down Expand Up @@ -115,7 +115,7 @@ def release_box():

`open_gripper` and `close_gripper` send a reference value for
`fr3_finger_joint1` to open or close the gripper. They use `send_trajectory`,
as in `tutorial_6`. On the real robot, this would be performed by a ROS action
as in `tutorial_7`. On the real robot, this would be performed by a ROS action
instead.

`grasp_box` and `release_box` call `attach_box` and `detach_box` respectively.
Expand Down