Add parameter arm_id

  This is useful for controlling several instances of the same arm.

Author: florent-lamiraux

config/sot_params_franka_panda.yaml

@@ -1,24 +1,24 @@
 sot_controller:
   control_mode:
-    panda_joint1:
+    $(arg arm_id)_joint1:
       ros_control_mode: POSITION
       sot_control_mode: VELOCITY
-    panda_joint2:
+    $(arg arm_id)_joint2:
       ros_control_mode: POSITION
       sot_control_mode: VELOCITY
-    panda_joint3:
+    $(arg arm_id)_joint3:
       ros_control_mode: POSITION
       sot_control_mode: VELOCITY
-    panda_joint4:
+    $(arg arm_id)_joint4:
       ros_control_mode: POSITION
       sot_control_mode: VELOCITY
-    panda_joint5:
+    $(arg arm_id)_joint5:
       ros_control_mode: POSITION
       sot_control_mode: VELOCITY
-    panda_joint6:
+    $(arg arm_id)_joint6:
       ros_control_mode: POSITION
       sot_control_mode: VELOCITY
-    panda_joint7:
+    $(arg arm_id)_joint7:
       ros_control_mode: POSITION
       sot_control_mode: VELOCITY
 

launch/controller.launch

@@ -1,7 +1,10 @@
 <launch>
   <arg name="simulation" default="false"/>
   <arg name="robot" default="" />
+  <arg name="arm_id" default=""
+       doc="prefix of the arm in case of multi-robot"/>
   <include file="$(find sot_universal_robot)/launch/sot_params.launch">
+    <arg name="arm_id" value="$(arg arm_id)"/>
     <arg name="robot" value="$(arg robot)"/>
     <arg name="simulation" value="$(arg simulation)"/>
   </include>

launch/sot_params.launch

@@ -23,7 +23,7 @@
     <rosparam command="load"
               file="$(find sot_universal_robot)/config/sot_params_common.yaml"/>
     <rosparam command="load" if="$(eval robot == 'franka')"
-              file="$(find sot_universal_robot)/config/sot_params_franka_$(arg arm_id).yaml"
+              file="$(find sot_universal_robot)/config/sot_params_franka_panda.yaml"
               subst_value="true"/>
     <rosparam command="load" if="$(eval robot == 'ur')"
               file="$(find sot_universal_robot)/config/sot_params_ur.yaml"/>