Hardware Interface Code: MoveItConfigsBuilder Compatibility

[peterdavidfagan]

Currently the Hardware interfaces code is not compatible with MoveItConfigsBuilder as it incorrectly parses the robot_ip from the robot_description. The substr index when changed to 0 fixed this problem (see linked sections of codebase for where the issue arises).

https://github.com/xArm-Developer/xarm_ros2/blob/67af13d70fda6de299de630cc540e3a2d271e489/xarm_controller/src/hardware/uf_robot_system_hardware.cpp#L65

https://github.com/xArm-Developer/xarm_ros2/blob/67af13d70fda6de299de630cc540e3a2d271e489/xarm_controller/src/hardware/uf_robot_system_hardware.cpp#L147

[vimior]

@peterdavidfagan Sorry, I have never used MoveItConfigsBuilder. If it is convenient, can you provide a short test code, mainly to test the correctness of robot_ip acquisition. The parameters of the hardware interface layer are passed through URDF (such as the xarm6_ros2_control.xacro file), and the robot_ip parameter passed by the URDF to the hardware interface layer actually adds an R prefix on the basis of the actual robot_ip, so when parsing robot_ip at the hardware interface layer It should be substr(1), I'm still not sure how your parsing error happened.

[peterdavidfagan]

Thanks for getting back to me on this @vimior.

the robot_ip parameter passed by the URDF to the hardware interface layer actually adds an R prefix on the basis of the actual robot_ip, so when parsing robot_ip at the hardware interface layer It should be substr(1), I'm still not sure how your parsing error happened.

Ah ok I see, this is where the difference arises, MoveItConfigsBuilder directly parses from the URDF file but it doesn't expect there to be an added prefix.

I have being using your xacro code to generate the required URDF and SRDF files for different applications. When actually running a given application I am using MoveItConfigsBuilder as I think it is quite concise.