runtime/env_manager/rbs_runtime/launch/runtime.launch.py

355 lines
12 KiB
Python
Raw Normal View History

import os
from launch.launch_introspector import indent
import xacro
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
OpaqueFunction,
TimerAction,
)
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from robot_builder.parser.urdf import URDF_parser
from robot_builder.external.ros2_control import ControllerManager
import yaml
def launch_setup(context, *args, **kwargs):
# Initialize Arguments
robot_type = LaunchConfiguration("robot_type")
# General arguments
with_gripper_condition = LaunchConfiguration("with_gripper")
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
use_moveit = LaunchConfiguration("use_moveit")
moveit_config_package = LaunchConfiguration("moveit_config_package")
moveit_config_file = LaunchConfiguration("moveit_config_file")
use_sim_time = LaunchConfiguration("use_sim_time")
scene_config_file = LaunchConfiguration("scene_config_file").perform(context)
ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
base_link_name = LaunchConfiguration("base_link_name").perform(context)
control_space = LaunchConfiguration("control_space").perform(context)
control_strategy = LaunchConfiguration("control_strategy").perform(context)
interactive = LaunchConfiguration("interactive").perform(context)
real_robot = LaunchConfiguration("real_robot").perform(context)
use_rbs_utils = LaunchConfiguration("use_rbs_utils")
assembly_config_name = LaunchConfiguration("assembly_config_name")
if not scene_config_file == "":
config_file = {"config_file": scene_config_file}
else:
config_file = {}
description_package_abs_path = get_package_share_directory(
description_package.perform(context)
)
controllers_file = os.path.join(
description_package_abs_path, "config", "controllers.yaml"
)
xacro_file = os.path.join(
description_package_abs_path,
"urdf",
description_file.perform(context),
)
xacro_config_file = f"{description_package_abs_path}/config/xacro_args.yaml"
# TODO: hide this to another place
# Load xacro_args
def param_constructor(loader, node, local_vars):
value = loader.construct_scalar(node)
return LaunchConfiguration(value).perform(
local_vars.get("context", "Launch context if not defined")
)
def variable_constructor(loader, node, local_vars):
value = loader.construct_scalar(node)
return local_vars.get(value, f"Variable '{value}' not found")
def load_xacro_args(yaml_file, local_vars):
# Get valut from ros2 argument
yaml.add_constructor(
"!param", lambda loader, node: param_constructor(loader, node, local_vars)
)
# Get value from local variable in this code
# The local variable should be initialized before the loader was called
yaml.add_constructor(
"!variable",
lambda loader, node: variable_constructor(loader, node, local_vars),
)
with open(yaml_file, "r") as file:
return yaml.load(file, Loader=yaml.FullLoader)
mappings_data = load_xacro_args(xacro_config_file, locals())
robot_description_doc = xacro.process_file(xacro_file, mappings=mappings_data)
robot_description_semantic_content = ""
if use_moveit.perform(context) == "true":
srdf_config_file = f"{description_package_abs_path}/config/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=" ")
control_space = "joint"
control_strategy = "position"
interactive = "false"
robot_description_content = robot_description_doc.toprettyxml(indent=" ")
robot_description = {"robot_description": robot_description_content}
# Parse robot and configure controller's file for ControllerManager
robot = URDF_parser.load_string(
robot_description_content, ee_link_name=ee_link_name
)
ControllerManager.save_to_yaml(
robot, description_package_abs_path, "controllers.yaml"
)
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
rbs_robot_setup = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
PathJoinSubstitution(
[FindPackageShare("rbs_bringup"), "launch", "rbs_robot.launch.py"]
)
]
),
launch_arguments={
"with_gripper": with_gripper_condition,
"controllers_file": controllers_file,
"robot_type": robot_type,
"description_package": description_package,
"description_file": description_file,
"robot_name": robot_type,
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
"use_moveit": use_moveit,
"moveit_config_package": moveit_config_package,
"moveit_config_file": moveit_config_file,
"use_sim_time": use_sim_time,
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
"use_controllers": "true",
"robot_description": robot_description_content,
"robot_description_semantic": robot_description_semantic_content,
"base_link_name": base_link_name,
"ee_link_name": ee_link_name,
"control_space": control_space,
"control_strategy": control_strategy,
"interactive_control": interactive,
"use_rbs_utils": use_rbs_utils,
"assembly_config_name": assembly_config_name
}.items(),
)
if real_robot == "true":
controller_manager_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[
robot_description,
controllers_file,
],
output="screen",
)
return [rbs_robot_setup, controller_manager_node]
rbs_runtime = Node(
package="rbs_runtime",
executable="runtime",
arguments=[('--ros-args --remap log_level:=debug')],
parameters=[robot_description, config_file, {"use_sim_time": True}],
)
clock_bridge = Node(
package="ros_gz_bridge",
executable="parameter_bridge",
arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"],
output="screen",
)
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
delay_robot_control_stack = TimerAction(period=10.0, actions=[rbs_robot_setup])
nodes_to_start = [
rbs_runtime,
clock_bridge,
delay_robot_control_stack
]
return nodes_to_start
def generate_launch_description():
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"robot_type",
description="Type of robot by name",
choices=[
"rbs_arm",
"ar4",
"ur3",
"ur3e",
"ur5",
"ur5e",
"ur10",
"ur10e",
"ur16e",
],
default_value="rbs_arm",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_package",
default_value="rbs_arm",
description="Description package with robot URDF/XACRO files. Usually the argument \
is not set, it enables use of a custom description.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_file",
default_value="rbs_arm_modular.xacro",
description="URDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"robot_name",
default_value="arm0",
description="Name for robot, used to apply namespace for specific robot in multirobot setup",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_package",
default_value="rbs_arm",
description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
is not set, it enables use of a custom moveit config.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_file",
default_value="rbs_arm.srdf.xacro",
description="MoveIt SRDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"use_sim_time",
default_value="true",
description="Make MoveIt to use simulation time.\
This is needed for the trajectory planing in simulation.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"with_gripper", default_value="true", description="With gripper or not?"
)
)
declared_arguments.append(
DeclareLaunchArgument(
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
"use_moveit", default_value="false", description="Launch moveit?"
)
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_perception", default_value="false", description="Launch perception?"
)
)
declared_arguments.append(
DeclareLaunchArgument(
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
"use_controllers",
default_value="true",
description="Launch controllers?",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"scene_config_file",
default_value="",
description="Path to a scene configuration file",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"ee_link_name",
default_value="",
description="End effector name of robot arm",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"base_link_name",
default_value="",
description="Base link name if robot arm",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"control_space",
default_value="task",
choices=["task", "joint"],
description="Specify the control space for the robot (e.g., task space).",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"control_strategy",
default_value="position",
choices=["position", "velocity", "effort"],
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",
),
)
declared_arguments.append(
DeclareLaunchArgument(
"real_robot",
default_value="false",
description="Wheter to run on the real robot",
),
)
declared_arguments.append(
DeclareLaunchArgument(
"use_rbs_utils",
default_value="true",
description="Wheter to use rbs_utils",
),
)
declared_arguments.append(
DeclareLaunchArgument(
"assembly_config_name",
default_value="",
description="Assembly config name from rbs_assets_library",
),
)
return LaunchDescription(
declared_arguments + [OpaqueFunction(function=launch_setup)]
)