runtime/rbs_simulation/launch/rbs_simulation.launch.py

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Python
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2023-02-03 07:04:12 +00:00
import os
from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
OpaqueFunction,
RegisterEventHandler,
)
from ament_index_python.packages import get_package_share_directory, get_package_share_path
from launch.conditions import IfCondition, UnlessCondition
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from ur_moveit_config.launch_common import load_yaml
def generate_launch_description():
declared_arguments = []
# UR specific arguments
declared_arguments.append(
DeclareLaunchArgument(
"rbs_robot_type",
description="Type of robot by name",
choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
default_value="ur5e",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"safety_limits",
default_value="true",
description="Enables the safety limits controller if true.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"safety_pos_margin",
default_value="0.15",
description="The margin to lower and upper limits in the safety controller.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"safety_k_position",
default_value="20",
description="k-position factor in the safety controller.",
)
)
# General arguments
declared_arguments.append(
DeclareLaunchArgument(
"runtime_config_package",
default_value="ur_moveit_config",
description='Package with the controller\'s configuration in "config" folder. \
Usually the argument is not set, it enables use of a custom setup.',
)
)
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="ur_controllers.yaml",
description="YAML file with the controllers configuration.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_package",
default_value="ur_description",
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="ur.urdf.xacro",
description="URDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"prefix",
default_value='""',
description="Prefix of the joint names, useful for \
multi-robot setup. If changed than also joint names in the controllers' configuration \
have to be updated.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"start_joint_controller",
default_value="true",
description="Enable headless mode for robot control",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
default_value="joint_trajectory_controller",
description="Robot controller to start.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_package",
default_value="ur_moveit_config",
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="ur.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("launch_rviz", default_value="true", description="Launch RViz?")
)
# Initialize Arguments
# TODO тут всё переименовать и сделать боеле универсальным как под нашего робото так и под UR чтобы запускалось одинаково
rbs_robot_type = LaunchConfiguration("rbs_robot_type")
safety_limits = LaunchConfiguration("safety_limits")
safety_pos_margin = LaunchConfiguration("safety_pos_margin")
safety_k_position = LaunchConfiguration("safety_k_position")
# General arguments
runtime_config_package = LaunchConfiguration("runtime_config_package")
controllers_file = LaunchConfiguration("controllers_file")
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
prefix = LaunchConfiguration("prefix")
start_joint_controller = LaunchConfiguration("start_joint_controller")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
launch_rviz = LaunchConfiguration("launch_rviz")
moveit_config_package = LaunchConfiguration("moveit_config_package")
moveit_config_file = LaunchConfiguration("moveit_config_file")
use_sim_time = LaunchConfiguration("use_sim_time")
initial_joint_controllers = PathJoinSubstitution(
[FindPackageShare(runtime_config_package), "config", controllers_file]
)
rviz_config_file = PathJoinSubstitution(
[FindPackageShare(moveit_config_package), "rviz", "view_robot.rviz"]
)
world_config_file = PathJoinSubstitution(
[FindPackageShare("sdf_models"), "worlds", "empty_world.sdf"] # TODO тут пакет извне должен задаваться
)
print(world_config_file)
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare(description_package), "urdf", description_file]
),
" ",
"safety_limits:=",
safety_limits,
" ",
"safety_pos_margin:=",
safety_pos_margin,
" ",
"safety_k_position:=",
safety_k_position,
" ",
"name:=",
"ur",
" ",
"ur_type:=", # TODO сделать более универсальным
rbs_robot_type,
" ",
"prefix:=",
prefix,
" ",
"sim_ignition:=true",
" ",
"simulation_controllers:=",
initial_joint_controllers,
]
)
robot_description = {"robot_description": robot_description_content}
robot_state_publisher_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
output="both",
parameters=[{"use_sim_time": True}, robot_description],
)
joint_state_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
)
# There may be other controllers of the joints, but this is the initially-started one
initial_joint_controller_spawner_started = Node(
package="controller_manager",
executable="spawner",
arguments=[initial_joint_controller, "--controller-manager", "/controller_manager"],
condition=IfCondition(start_joint_controller),
)
initial_joint_controller_spawner_stopped = Node(
package="controller_manager",
executable="spawner",
arguments=[initial_joint_controller, "--controller-manager", "/controller_manager", "--stopped"],
condition=UnlessCondition(start_joint_controller),
)
# Gazebo nodes
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(get_package_share_path('ros_ign_gazebo'), 'launch', 'ign_gazebo.launch.py')),
launch_arguments={'ign_args': ['-r'," ", world_config_file]}.items(),
)
# Spawn robot
gazebo_spawn_robot = Node(package='ros_ign_gazebo', executable='create',
arguments=[
'-name', rbs_robot_type,
'-x', '0.0',
'-z', '0.0',
'-y', '0.0',
'-topic', '/robot_description'],
output='screen')
# MoveIt Configuration
robot_description_semantic_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare(moveit_config_package), "srdf", moveit_config_file]
),
" ",
"name:=",
"ur",
" ",
"prefix:=",
prefix,
" ",
]
)
robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
robot_description_kinematics = PathJoinSubstitution(
[FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
)
# robot_description_planning = {
# "robot_description_planning": load_yaml_abs(str(joint_limit_params.perform(context)))
# }
# Planning Configuration
ompl_planning_pipeline_config = {
"move_group": {
"planning_plugin": "ompl_interface/OMPLPlanner",
"request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
"start_state_max_bounds_error": 0.1,
}
}
ompl_planning_yaml = load_yaml("ur_moveit_config", "config/ompl_planning.yaml") # TODO сделать извне
ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
# Trajectory Execution Configuration
controllers_yaml = load_yaml("ur_moveit_config", "config/controllers.yaml")
# the scaled_joint_trajectory_controller does not work on fake hardware
change_controllers = True
if change_controllers == "true":
controllers_yaml["scaled_joint_trajectory_controller"]["default"] = False
controllers_yaml["joint_trajectory_controller"]["default"] = True
moveit_controllers = {
"moveit_simple_controller_manager": controllers_yaml,
"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
}
trajectory_execution = {
"moveit_manage_controllers": True,
"trajectory_execution.allowed_execution_duration_scaling": 1.2,
"trajectory_execution.allowed_goal_duration_margin": 0.5,
"trajectory_execution.allowed_start_tolerance": 0.01,
}
planning_scene_monitor_parameters = {
"publish_planning_scene": True,
"publish_geometry_updates": True,
"publish_state_updates": True,
"publish_transforms_updates": True,
}
# Start the actual move_group node/action server
move_group_node = Node(
package="moveit_ros_move_group",
executable="move_group",
output="screen",
name="move_group",
parameters=[
robot_description,
robot_description_semantic,
robot_description_kinematics,
# robot_description_planning,
ompl_planning_pipeline_config,
trajectory_execution,
moveit_controllers,
planning_scene_monitor_parameters,
{"use_sim_time": use_sim_time},
],
)
rviz_node = Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output="log",
arguments=["-d", rviz_config_file],
parameters=[
robot_description,
robot_description_semantic,
ompl_planning_pipeline_config,
robot_description_kinematics,
# robot_description_planning,
],
condition=IfCondition(launch_rviz),
)
move_topose_action_server = Node(
package="rbs_skill_servers",
executable="move_topose_action_server",
name="move_to_pose_moveit",
parameters=[
robot_description,
robot_description_semantic,
robot_description_kinematics,
# robot_description_planning,
ompl_planning_pipeline_config,
trajectory_execution,
moveit_controllers,
planning_scene_monitor_parameters,
{"use_sim_time": use_sim_time},
]
)
move_cartesian_path_action_server = Node(
package="rbs_skill_servers",
executable="move_cartesian_path_action_server",
name="move_cartesian_path_action_server",
parameters=[
robot_description,
robot_description_semantic,
robot_description_kinematics,
# robot_description_planning,
ompl_planning_pipeline_config,
trajectory_execution,
moveit_controllers,
planning_scene_monitor_parameters,
{"use_sim_time": use_sim_time},
]
)
nodes_to_start = [
robot_state_publisher_node,
joint_state_broadcaster_spawner,
rviz_node,
initial_joint_controller_spawner_stopped,
initial_joint_controller_spawner_started,
gazebo,
gazebo_spawn_robot,
move_group_node,
move_topose_action_server,
move_cartesian_path_action_server
]
return LaunchDescription(declared_arguments + nodes_to_start)