From 17401c29a7eea7a089687cce0e44e0cdd2e6c60a Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Mon, 18 Nov 2024 23:59:49 +0300
Subject: [PATCH] add interactive argument to control robot with interactive
 marker

---
 doc/en/add_new_robot.md                          |  4 ++++
 doc/ru/add_new_robot.md                          |  4 ++++
 env_manager/rbs_runtime/launch/runtime.launch.py | 10 ++++++++++
 rbs_bringup/launch/control.launch.py             |  2 +-
 rbs_bringup/launch/rbs_bringup.launch.py         |  1 +
 5 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/doc/en/add_new_robot.md b/doc/en/add_new_robot.md
index 8b069ce..ef70a66 100644
--- a/doc/en/add_new_robot.md
+++ b/doc/en/add_new_robot.md
@@ -104,3 +104,7 @@ Before starting, it is important to understand the basics of the [xacro](https:/
   - `velocity` — velocity control, where desired movement speeds are set.  
   - `effort` — effort control, where torques or forces applied to the joints are specified.  
   Default value: `position`.
+
+- **`interactive`**  
+  Specifies whether to run the `motion_control_handle` controller.  
+  Default value: `true`.  
diff --git a/doc/ru/add_new_robot.md b/doc/ru/add_new_robot.md
index f9cebd2..6f1bbb8 100644
--- a/doc/ru/add_new_robot.md
+++ b/doc/ru/add_new_robot.md
@@ -106,3 +106,7 @@
   - `velocity` — управление скоростью, когда задаются желаемые скорости движения.  
   - `effort` — управление усилием, когда задаются моменты или силы, прикладываемые к суставам.  
   Значение по умолчанию: `position`.
+
+- **`interactive`**  
+  Указывает, нужно ли запускать контроллер `motion_control_handle`.  
+  Значение по умолчанию: `true`.  
diff --git a/env_manager/rbs_runtime/launch/runtime.launch.py b/env_manager/rbs_runtime/launch/runtime.launch.py
index 0ff5ed9..45d6af7 100644
--- a/env_manager/rbs_runtime/launch/runtime.launch.py
+++ b/env_manager/rbs_runtime/launch/runtime.launch.py
@@ -41,6 +41,8 @@ def launch_setup(context, *args, **kwargs):
     control_space = LaunchConfiguration("control_space").perform(context)
     control_strategy = LaunchConfiguration("control_strategy").perform(context)
 
+    interactive = LaunchConfiguration("interactive").perform(context)
+
     if not scene_config_file == "":
         config_file = {"config_file": scene_config_file}
     else:
@@ -132,6 +134,7 @@ def launch_setup(context, *args, **kwargs):
             "ee_link_name": ee_link_name,
             "control_space": control_space,
             "control_strategy": control_strategy,
+            "interactive_control": interactive,
         }.items(),
     )
 
@@ -284,6 +287,13 @@ def generate_launch_description():
             description="Specify the control strategy (e.g., position control).",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "interactive",
+            default_value="true",
+            description="Wheter to run the motion_control_handle controller",
+        ),
+    )
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
diff --git a/rbs_bringup/launch/control.launch.py b/rbs_bringup/launch/control.launch.py
index 91ab0b9..a2d6df6 100644
--- a/rbs_bringup/launch/control.launch.py
+++ b/rbs_bringup/launch/control.launch.py
@@ -78,7 +78,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "interactive_control",
             default_value="true",
-            description="Whether to activate the gripper_controller.",
+            description="Wheter to run the motion_control_handle controller",
         ),
     ]
 
diff --git a/rbs_bringup/launch/rbs_bringup.launch.py b/rbs_bringup/launch/rbs_bringup.launch.py
index 06c1047..5872087 100644
--- a/rbs_bringup/launch/rbs_bringup.launch.py
+++ b/rbs_bringup/launch/rbs_bringup.launch.py
@@ -37,6 +37,7 @@ def launch_setup(context, *args, **kwargs):
             "ee_link_name": "gripper_grasp_point",
             "control_space": "task",
             "control_strategy": "position",
+            "interactive": "false"
         }.items(),
     )