Refactor robot stack to single use_sim launch argument

dwarakeshbaraneetharan · dwarakeshbaraneetharan · commit f854d53d2fef · 2026-03-12T10:25:58.000-04:00
diff --git a/src/description/config/odrive.ros2_control.xacro b/src/description/config/odrive.ros2_control.xacro
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="odrive_ros2_control" params="name">
+  <xacro:macro name="odrive_ros2_control" params="name can_interface">
 
     <ros2_control name="${name}" type="system">
       <hardware>
         <plugin>odrive_ros2_control_plugin/ODriveHardwareInterface</plugin>
-        <param name="can">can0</param>
+        <param name="can_interface">${can_interface}</param>
       </hardware>
 
        <!-- 
diff --git a/src/description/ros2_control/arm/arm.rmd.ros2_control.xacro b/src/description/ros2_control/arm/arm.rmd.ros2_control.xacro
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="rmd_ros2_control" params="name">
+  <xacro:macro name="rmd_ros2_control" params="name can_interface">
     <ros2_control name="${name}" type="system">
       <hardware>
         <plugin>rmd_ros2_control/RMDHardwareInterface</plugin>
         <param name="update_rate">2</param> <!-- Hz -->
         <param name="logger_rate">5</param> <!-- Hz -->
         <param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
-        <param name="can_interface">can0</param>
+        <param name="can_interface">${can_interface}</param>
       </hardware>
 
       <joint name="shoulder_pitch">
diff --git a/src/description/ros2_control/arm/arm.servo.ros2_control.xacro b/src/description/ros2_control/arm/arm.servo.ros2_control.xacro
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:macro name="servo_ros2_control" params="name">
+    <xacro:macro name="servo_ros2_control" params="name can_interface">
         <ros2_control name="${name}" type="system">
             <hardware>
                 <plugin>servo_ros2_control/SERVOHardwareInterface</plugin>
                 <param name="update_rate">1</param> <!-- Hz -->
                 <param name="logger_rate">5</param> <!-- Hz -->
                 <param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
-                <param name="can_interface">can0</param>
+                <param name="can_interface">${can_interface}</param>
                 <param name="can_id">0x80</param>
             </hardware>
 
diff --git a/src/description/ros2_control/arm/arm.smc.ros2_control.xacro b/src/description/ros2_control/arm/arm.smc.ros2_control.xacro
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="smc_ros2_control" params="name">
+  <xacro:macro name="smc_ros2_control" params="name can_interface">
     <ros2_control name="${name}" type="system">
       <hardware>
         <plugin>smc_ros2_control/SMCHardwareInterface</plugin>
         <param name="update_rate">2</param> <!-- Hz -->
         <param name="logger_rate">5</param> <!-- Hz -->
         <param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
-        <param name="can_interface">can0</param>
+        <param name="can_interface">${can_interface}</param>
       </hardware>
 
       <joint name="base_yaw">
diff --git a/src/description/ros2_control/arm/arm.talon.ros2_control.xacro b/src/description/ros2_control/arm/arm.talon.ros2_control.xacro
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="talon_ros2_control" params="name">
+  <xacro:macro name="talon_ros2_control" params="name can_interface">
     <ros2_control name="${name}" type="system">
       <hardware>
         <plugin>talon_ros2_control/TALONHardwareInterface</plugin>
         <param name="update_rate">10</param> <!-- Hz -->
         <param name="logger_rate">5</param> <!-- Hz -->
         <param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
-        <param name="can_interface">can0</param>
+        <param name="can_interface">${can_interface}</param>
       </hardware>
 
       <joint name="gripper_claw">
diff --git a/src/description/ros2_control/drive/drive.killswitch.ros2_control.xacro b/src/description/ros2_control/drive/drive.killswitch.ros2_control.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="killswitch_ros2_control" params="name can_interface:=can0">
+  <xacro:macro name="killswitch_ros2_control" params="name can_interface">
 
     <ros2_control name="${name}" type="system">
       <hardware>
diff --git a/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro b/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="odrive_ros2_control" params="name">
+  <xacro:macro name="odrive_ros2_control" params="name can_interface">
 
     <ros2_control name="${name}" type="system">
       <hardware>
         <plugin>odrive_ros2_control_plugin/ODriveHardwareInterface</plugin>
-        <param name="can">can0</param>
+        <param name="can_interface">${can_interface}</param>
       </hardware>
 
       <joint name="steer_bl_joint">
diff --git a/src/description/ros2_control/drive/drive.rmd.ros2_control.xacro b/src/description/ros2_control/drive/drive.rmd.ros2_control.xacro
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="rmd_ros2_control" params="name">
+  <xacro:macro name="rmd_ros2_control" params="name can_interface">
     <ros2_control name="${name}" type="system">
       <hardware>
         <plugin>rmd_ros2_control/RMDHardwareInterface</plugin>
         <param name="update_rate">30</param> <!-- Hz -->
         <param name="logger_rate">5</param> <!-- Hz -->
         <param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
-        <param name="can_interface">can0</param>
+        <param name="can_interface">${can_interface}</param>
       </hardware>
 
       <joint name="propulsion_fl_joint">
diff --git a/src/description/ros2_control/science/science.laser.ros2_control.xacro b/src/description/ros2_control/science/science.laser.ros2_control.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <xacro:macro name="laser_ros2_control" params="name can_interface:=can0">
+    <xacro:macro name="laser_ros2_control" params="name can_interface">
 
         <ros2_control name="${name}" type="system">
 
diff --git a/src/description/ros2_control/science/science.servo.ros2_control.xacro b/src/description/ros2_control/science/science.servo.ros2_control.xacro
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:macro name="servo_ros2_control" params="name">
+    <xacro:macro name="servo_ros2_control" params="name can_interface">
         <ros2_control name="${name}" type="system">
             <hardware>
                 <plugin>servo_ros2_control/SERVOHardwareInterface</plugin>
                 <param name="update_rate">20</param> <!-- Hz -->
                 <param name="logger_rate">5</param> <!-- Hz -->
                 <param name="logger_state">1</param> <!-- 0 for off, 1 for on -->
-                <param name="can_interface">can0</param>
+                <param name="can_interface">${can_interface}</param>
                 <param name="can_id">0x80</param>
             </hardware>
 
diff --git a/src/description/ros2_control/science/science.talon.ros2_control.xacro b/src/description/ros2_control/science/science.talon.ros2_control.xacro
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="talon_ros2_control" params="name">
+  <xacro:macro name="talon_ros2_control" params="name can_interface">
     <ros2_control name="${name}" type="system">
       <hardware>
         <plugin>talon_ros2_control/TALONHardwareInterface</plugin>
         <param name="update_rate">10</param> <!-- Hz -->
         <param name="logger_rate">5</param> <!-- Hz -->
         <param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
-        <param name="can_interface">can0</param>
+        <param name="can_interface">${can_interface}</param>
       </hardware>
 
       <joint name="talon_auger">
diff --git a/src/description/urdf/athena_arm.urdf.xacro b/src/description/urdf/athena_arm.urdf.xacro
@@ -5,9 +5,10 @@
   <xacro:arg name="prefix" default=""/>
   <xacro:arg name="use_mock_hardware" default="false"/>
   <xacro:arg name="mock_sensor_commands" default="false"/>
-  <xacro:arg name="sim_gazebo_classic" default="true"/>
-  <xacro:arg name="sim_gazebo" default="true"/>
-  <xacro:arg name="simulation_controllers" default=""/>
+  <xacro:arg name="use_sim" default="false"/>
+
+  <!-- Derive CAN interface name from use_sim -->
+  <xacro:property name="can_interface" value="${'vcan0' if '$(arg use_sim)' == 'true' else 'can0'}"/>
 
   <!-- Macro Imports -->
   <!-- Import athena_arm macro -->
@@ -44,7 +45,7 @@
     <xacro:mock_ros2_control name="mock"/>
   </xacro:if>
   <xacro:unless value="$(arg use_mock_hardware)"> <!-- HARDWARE -->
-    <xacro:smc_ros2_control name="smc"/>
+    <xacro:smc_ros2_control name="smc" can_interface="${can_interface}"/>
     <ros2_control name="talon_mock" type="system">
       <hardware>
         <plugin>mock_components/GenericSystem</plugin>
@@ -58,9 +59,9 @@
         <state_interface name="velocity"/>
       </joint>
     </ros2_control>
-    <xacro:rmd_ros2_control name="rmd"/>
-    <xacro:servo_ros2_control name="servo"/>
-    <!-- <xacro:odrive_ros2_control name="odrive"/> -->
+    <xacro:rmd_ros2_control name="rmd" can_interface="${can_interface}"/>
+    <xacro:servo_ros2_control name="servo" can_interface="${can_interface}"/>
+    <!-- <xacro:odrive_ros2_control name="odrive" can_interface="${can_interface}"/> -->
   </xacro:unless>
 
 </robot>
diff --git a/src/description/urdf/athena_drive.urdf.xacro b/src/description/urdf/athena_drive.urdf.xacro
@@ -6,8 +6,12 @@
 
   <xacro:arg name="use_mock_hardware" default="false"/>
   <xacro:arg name="mock_sensor_commands" default="false"/>
-  <xacro:arg name="sim_gazebo" default="true"/>
+  <xacro:arg name="sim_gazebo" default="false"/>
   <xacro:arg name="simulation_controllers" default=""/>
+  <xacro:arg name="use_sim" default="false"/>
+
+  <!-- Derive CAN interface name from use_sim -->
+  <xacro:property name="can_interface" value="${'vcan0' if '$(arg use_sim)' == 'true' else 'can0'}"/>
 
 
   <xacro:include filename="$(find description)/urdf/athena_drive/athena_drive_macro.xacro"/>
@@ -70,14 +74,14 @@
     simulation_controllers="$(arg simulation_controllers)"/>
   </xacro:if>
   <xacro:unless value="$(arg use_mock_hardware)">
-    <xacro:odrive_ros2_control name="odrive"/>
-    <xacro:rmd_ros2_control name="rmd"/>
+    <xacro:odrive_ros2_control name="odrive" can_interface="${can_interface}"/>
+    <xacro:rmd_ros2_control name="rmd" can_interface="${can_interface}"/>
 
     <!-- LED status indicator (GPIO-based) -->
     <xacro:led_ros2_control name="status_led" gpio_pin="25"/>
 
     <!-- Killswitch (CAN-based) -->
-    <xacro:killswitch_ros2_control name="drive_killswitch"/>
+    <xacro:killswitch_ros2_control name="drive_killswitch" can_interface="${can_interface}"/>
   </xacro:unless>
 
   
diff --git a/src/description/urdf/athena_science.urdf.xacro b/src/description/urdf/athena_science.urdf.xacro
@@ -3,6 +3,10 @@
 
   <xacro:arg name="use_mock_hardware" default="false"/>
   <xacro:arg name="mock_sensor_commands" default="false"/>
+  <xacro:arg name="use_sim" default="false"/>
+
+  <!-- Derive CAN interface name from use_sim -->
+  <xacro:property name="can_interface" value="${'vcan0' if '$(arg use_sim)' == 'true' else 'can0'}"/>
 
   <xacro:include filename="$(find description)/ros2_control/science/science.mock.ros2_control.xacro"/>
 
@@ -28,13 +32,13 @@
     <xacro:stepper_ros2_control name="stepper"/>
 
     <!-- Import servo ros2_control description -->
-    <xacro:servo_ros2_control name="servo"/>
+    <xacro:servo_ros2_control name="servo" can_interface="${can_interface}"/>
 
     <!-- Import talon ros2_control description -->
-    <xacro:talon_ros2_control name="talon"/>
+    <xacro:talon_ros2_control name="talon" can_interface="${can_interface}"/>
 
     <!-- Import laser ros2_control description (CAN-based) -->
-    <xacro:laser_ros2_control name="spectrometry_laser"/>
+    <xacro:laser_ros2_control name="spectrometry_laser" can_interface="${can_interface}"/>
   </xacro:unless>
 
 </robot>
diff --git a/src/hardware_interfaces/ros_odrive/odrive_ros2_control/src/odrive_hardware_interface.cpp b/src/hardware_interfaces/ros_odrive/odrive_ros2_control/src/odrive_hardware_interface.cpp
@@ -116,7 +116,7 @@ CallbackReturn ODriveHardwareInterface::on_init(const hardware_interface::Hardwa
         return CallbackReturn::ERROR;
     }
 
-    can_intf_name_ = info_.hardware_parameters["can"];
+    can_intf_name_ = info_.hardware_parameters["can_interface"];
 
     for (auto& joint : info_.joints) {
         axes_.emplace_back(&can_intf_, std::stoi(joint.parameters.at("node_id")), std::stoi(joint.parameters.at("gear_ratio")));
diff --git a/src/infrastructure/umdloop_can/umdloop_can/can_node.py b/src/infrastructure/umdloop_can/umdloop_can/can_node.py
@@ -7,20 +7,21 @@ class CANNode(Node):
     def __init__(self):
         super().__init__('can_node')
 
-        # Publisher for incoming CAN data
+        self.declare_parameter('can_interface', 'can0')
+        can_channel = self.get_parameter('can_interface').get_parameter_value().string_value
+
         self.publisher_ = self.create_publisher(CANA, 'can_rx', 10)
 
-        # Subscriber for outgoing CAN data
         self.subscription = self.create_subscription(
             CANA,
             'can_tx',
             self.can_send_callback,
             10
         )
 
-        self.can_interface = CANInterface(callback=self.can_rx_callback)
+        self.can_interface = CANInterface(callback=self.can_rx_callback, channel=can_channel)
         
-        self.get_logger().info('CAN Node Initialized')
+        self.get_logger().info(f'CAN Node Initialized on {can_channel}')
 
         # # Check for new CAN messages at 100Hz
         # self.timer = self.create_timer(0.01, self.check_can_messages)
diff --git a/src/subsystems/arm/arm_bringup/launch/athena_arm.launch.py b/src/subsystems/arm/arm_bringup/launch/athena_arm.launch.py
diff --git a/src/subsystems/drive/drive_bringup/launch/athena_drive.launch.py b/src/subsystems/drive/drive_bringup/launch/athena_drive.launch.py
diff --git a/src/subsystems/science/science_bringup/launch/athena_science.launch.py b/src/subsystems/science/science_bringup/launch/athena_science.launch.py
diff --git a/src/tools/scripts/virtual_can_setup.sh b/src/tools/scripts/virtual_can_setup.sh
