Base robot_launch.py on config file; document node parameters

[mmmarinho]

Summary

Aligns the launch file and README with the sas_robot_driver_ur repository (scoped to the launch file, the configuration file, and the node-parameter documentation, as requested).

Changes

• launch/robot_launch.py now mirrors the sas_robot_driver_ur launch file: a single driver node parameterized from a config file.
  • Adds a config_file launch argument (default: installed share/sas_robot_driver_kuka/config/config.yaml).
  • Adds output='screen' and emulate_tty=True.
  • The inline parameters=[...] dict is replaced by parameters=[config_file].
• config/config.yaml (new): the driver parameters for the R820 under a kuka_1 node namespace, matching the R820 joint limits used previously in the launch file.
• CMakeLists.txt: installs config/ into the package share so the default config_file resolves after colcon build.
• README.md: adds a "ROS 2 Nodes & Parameters" section (same structure as the UR repo) documenting sas_robot_driver_kuka_node, its properties, the launch usage, and each node parameter (type, mandatory/optional, default, purpose).
• src/sas_robot_driver_kuka_node.cpp, include/.../sas_robot_driver_kuka.hpp: removes the unused robot_name parameter (and the name field of RobotDriverKukaConfiguration). The robot is identified by the node name (robot_driver_provider_prefix = node->get_name()), matching the sas_robot_driver_ur convention.

Notes

• All parameters the node reads (joint_limits_min, joint_limits_max, thread_sampling_time_sec) are mandatory via sas::get_ros_parameter(...), so all are listed in the config file.
• The hardcoded node name in the code stays sas_robot_driver_kuka; the name launch argument is passed through as before (it becomes the topic-prefix via robot_driver_provider_prefix).

This PR was created by an AI agent (OpenHands) on behalf of the user.

[mmmarinho]

👎 The json is not relevant for the node config so I’ll have to check this.

[mmmarinho]

The .json kinematic model files under robots/ are not relevant to this task, so I removed the mention of them from the README.

• The robot_name parameter description no longer says it "selects the kinematic model file from the package robots/ directory" — it is now simply described as the name of the robot (e.g. r820).
• No other file in the PR (launch file, config file, CMakeLists.txt) referenced the .json files; only the README did.

Commit: 5dae58d

This comment was posted by an AI agent (OpenHands) on behalf of the user.

[mmmarinho]

Removed the robot_name parameter entirely, since it was unused.

Why: The node read robot_name into RobotDriverKukaConfiguration::name, but the field was never consumed — the KUKA driver only uses configuration.joint_limits, and the robot is identified by the node name via robot_driver_ros_configuration.robot_driver_provider_prefix = node->get_name(). This also matches the sas_robot_driver_ur convention, which has no robot_name parameter at all.

What changed:

• src/sas_robot_driver_kuka_node.cpp — dropped the sas::get_ros_parameter(node, "robot_name", ...) read
• include/sas_robot_driver_kuka/sas_robot_driver_kuka.hpp — dropped the now-unused std::string name field from RobotDriverKukaConfiguration
• config/config.yaml — removed the robot_name entry
• README.md — removed the robot_name row from the parameter table

Commit: 50fec36

This comment was posted by an AI agent (OpenHands) on behalf of the user.

[mmmarinho]

👍