modify tiago sim minimal hyperion config to use shunk grippper

components/bringup_tiago.yaml

@@ -3,7 +3,15 @@ name: tiago_bringup
 cmd:
   - start: |
       source_ros
-      stdbuf -oL -eL roslaunch tobi_sim tiago_bringup.launch
+      if [[ -z "${end_effector}" ]]; then
+        stdbuf -oL -eL roslaunch tobi_sim tiago_bringup.launch
+      else
+        if [[ echo ${end_effector} | grep schunk ]]; then
+          eef=schunk-wsg;
+        else
+          eef=${end_effector}; fi
+        stdbuf -oL -eL roslaunch tobi_sim tiago_bringup.launch end_effector:=${eef}
+      fi
   - check: |
       ps -ax | grep -v grep |grep tiago_bringup.launch
  

components/moveit.yaml

@@ -3,7 +3,12 @@ name: moveit
 cmd:
   - start: |
       source_ros
-      stdbuf -oL -eL roslaunch tiago_moveit_config move_group.launch
+      if [[ -z "${end_effector}" ]]; then
+        stdbuf -oL -eL roslaunch tiago_moveit_config move_group.launch
+      else
+        echo "using end_effector:${end_effector}";
+        stdbuf -oL -eL roslaunch tiago_moveit_config move_group.launch end_effector:=${end_effector};
+      fi
   - check: #TODO
 
 tags:

components/spawn_tiago.yaml

@@ -3,7 +3,15 @@ name: tiago_spawn
 cmd:
   - start: |
       source_ros
-      stdbuf -oL -eL roslaunch tobi_sim tiago_spawn.launch x:=${SPAWN_POSE_X} y:=${SPAWN_POSE_Y} Y:=${SPAWN_POSE_ANGLE}
+       if [[ -z "${end_effector}" ]]; then
+        stdbuf -oL -eL roslaunch tobi_sim tiago_spawn.launch x:=${SPAWN_POSE_X} y:=${SPAWN_POSE_Y} Y:=${SPAWN_POSE_ANGLE}
+      else
+        if [[ echo ${end_effector} | grep schunk ]]; then
+          eef=schunk-wsg;
+        else
+          eef=${end_effector}; fi
+        stdbuf -oL -eL roslaunch tobi_sim tiago_spawn.launch x:=${SPAWN_POSE_X} y:=${SPAWN_POSE_Y} Y:=${SPAWN_POSE_ANGLE} end_effector:=${eef}
+      fi
   - check: |
       source ${prefix}/setup.bash
       rostopic list | grep -e /sonar_base$

systems/env/tiago_minimal_env.sh.in

@@ -14,6 +14,12 @@ export PATH="${prefix}/bin:$PATH"
 @ENVFILE_default_paths@
 
 # Setup Robot
+if [[ -z "${EEF}" ]]; then
+    echo "NOT USING CUSTOM EEF"
+else
+    export end_effector=${EEF}
+    echo "USING EEF ${EEF}" 
+fi
 
 
 if [[ -z "${SIMMODE}" ]]; then