robossembler/cnc-graver-assist
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add moveit config and update scene

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This commit is contained in:
Ilya Uraev 2025-03-07 12:49:02 +03:00
parent d1553e2a9e
commit eac8f088d3
23 changed files with 1131 additions and 269 deletions
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58
rbs_mill_assist/launch/simulation.launch.py
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@ -1,3 +1,4 @@
from ntpath import isfile
import os
import xacro
@ -64,23 +65,20 @@ def launch_setup(context, *args, **kwargs):
robot_description_semantic_content = ""
if use_moveit.perform(context) == "true":
srdf_config_file = os.path.join(
get_package_share_directory(moveit_config_package.perform(context)),
"srdf",
"xacro_args.yaml",
)
srdf_file = os.path.join(
get_package_share_directory(moveit_config_package.perform(context)),
"srdf",
moveit_config_file.perform(context),
)
srdf_mappings = load_xacro_args(srdf_config_file, locals())
robot_description_semantic_content = xacro.process_file(
srdf_file, mappings=srdf_mappings
)
robot_description_semantic_content = (
robot_description_semantic_content.toprettyxml(indent=" ")
)
package_dir = get_package_share_directory(moveit_config_package.perform(context))
srdf_file = os.path.join(package_dir, "srdf", moveit_config_file.perform(context))
if srdf_file.endswith(".xacro"):
srdf_config_file = os.path.join(package_dir, "srdf", "xacro_args.yaml")
srdf_mappings = load_xacro_args(srdf_config_file, locals())
robot_description_semantic_content = xacro.process_file(srdf_file, mappings=srdf_mappings)
robot_description_semantic_content = robot_description_semantic_content.toprettyxml(indent=" ")
elif srdf_file.endswith(".srdf"):
with open(srdf_file, "r") as file:
robot_description_semantic_content = file.read()
control_space = "joint"
control_strategy = "position"
interactive = "false"
@ -175,14 +173,28 @@ def launch_setup(context, *args, **kwargs):
executable="get_key_pose_frame.py"
)
get_workspace = Node(
package="rbs_mill_assist",
executable="get_workspace",
parameters=[
{
"urdf_path": os.path.join(get_package_share_directory("rbs_mill_assist"), "urdf", "current.urdf"),
"ee_link": ee_link_name,
"use_sim_time": True,
"robot_position": [0.0, 0.0, 0.0]
}
]
)
nodes_to_start = [
rbs_robot_setup,
rviz_node,
# rviz_node,
gazebo,
gazebo_spawn_robot,
gz_bridge,
grasping_service,
get_named_pose_service
get_named_pose_service,
# get_workspace
]
return nodes_to_start
@ -232,7 +244,7 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_package",
default_value="rbs_arm",
default_value="rbs_mill_assist",
description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
is not set, it enables use of a custom moveit config.",
)
@ -240,7 +252,7 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_file",
default_value="rbs_arm.srdf.xacro",
default_value="rbs_arm.srdf",
description="MoveIt SRDF/XACRO description file with the robot.",
)
)
@ -259,7 +271,7 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"use_moveit", default_value="false", description="Launch moveit?"
"use_moveit", default_value="true", description="Launch moveit?"
)
)
declared_arguments.append(
@ -314,7 +326,7 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"interactive",
default_value="false",
default_value="true",
description="Wheter to run the motion_control_handle controller",
),
)