runtime/rbs_simulation/launch/rbs_simulation.launch.py

import os
from launch import LaunchDescription, LaunchContext
from launch.actions import (
    DeclareLaunchArgument,
    IncludeLaunchDescription,
    ExecuteProcess,
    OpaqueFunction
)
from ament_index_python.packages import get_package_share_directory
from launch.conditions import IfCondition, UnlessCondition
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
import xacro

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(
            "with_gripper",
            default_value="false",
            description="With gripper or not?",
        )
    )
    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(
            "controllers_with_gripper_file",
            default_value="ur_plus_gripper_controllers.yaml",
            description="YAML file with the UR + gripper_controller 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(
            "tf_prefix",
            default_value='""',
            description="tf_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="false",
            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(
            "initial_gripper_controller",
            default_value="gripper_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?")
    )

    declared_arguments.append(
        DeclareLaunchArgument("sim_gazebo", default_value="false", description="Gazebo Simulation")
    )
    declared_arguments.append(
        DeclareLaunchArgument("sim_mujoco", default_value="true", description="Gazebo Simulation")
    )
    declared_arguments.append(
        DeclareLaunchArgument("sim_fake", default_value="false", description="Gazebo Simulation")
    )

    # Initialize Arguments
    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")
    with_gripper_condition = LaunchConfiguration("with_gripper")
    controllers_file = LaunchConfiguration("controllers_file")
    
    description_package = LaunchConfiguration("description_package")
    description_file = LaunchConfiguration("description_file")
    tf_prefix = LaunchConfiguration("tf_prefix")
    start_joint_controller = LaunchConfiguration("start_joint_controller")
    initial_joint_controller = LaunchConfiguration("initial_joint_controller")
    initial_gripper_controller = LaunchConfiguration("initial_gripper_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")
    sim_gazebo = LaunchConfiguration("sim_gazebo")
    sim_mujoco = LaunchConfiguration("sim_mujoco")
    sim_fake = LaunchConfiguration("sim_fake")


    initial_joint_controllers_file_path = 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("rbs_simulation"), "worlds", "mir.sdf"]
    )
    
    mujoco_model = PathJoinSubstitution(
        [FindPackageShare("rbs_simulation"), "mujoco_model", "current_mj.xml"]
    )
    
    assemble_dir = os.path.join(
        get_package_share_directory("rbs_task_planner"), "example", "sdf_models"
    )
    
    points_params = load_yaml("rbs_bt_executor", "config/gripperPositions.yaml")

    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:=", rbs_robot_type, " ",
            "tf_prefix:=", tf_prefix, " ",
            "sim_mujoco:=", sim_mujoco, " ",
            "sim_gazebo:=", sim_gazebo, " ",
            "sim_fake:=", sim_fake, " ",
            "simulation_controllers:=", initial_joint_controllers_file_path, " ",
            "with_gripper:=", with_gripper_condition, " ",
            "mujoco_model:=", mujoco_model,
        ]
    )
    robot_description = {"robot_description": robot_description_content}
    
    control_node = Node(
        package="controller_manager",
        executable="ros2_control_node",
        parameters=[robot_description, initial_joint_controllers_file_path],
        output="both",
        remappings=[
            ('motion_control_handle/target_frame', 'target_frame'),
            ('cartesian_compliance_controller/target_frame', 'target_frame'),
            ('cartesian_compliance_controller/target_wrench', 'target_wrench'),
            ('cartesian_compliance_controller/ft_sensor_wrench', 'ft_sensor_wrench'),
            ]
    )

    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", "-c", "/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, "-c", "/controller_manager"],
        condition=IfCondition(start_joint_controller),
    )
    initial_joint_controller_spawner_stopped = Node(
        package="controller_manager",
        executable="spawner",
        arguments=[initial_joint_controller, "-c", "/controller_manager", "--inactive"],
        condition=UnlessCondition(start_joint_controller),
    )
    
    gripper_controller = ExecuteProcess(
        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
             "gripper_controller"],
        output='screen',
        condition=IfCondition(with_gripper_condition)
    )
    cartesian_motion_controller_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["cartesian_motion_controller", "--inactive", "-c", "/controller_manager"],
    )
    motion_control_handle_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["motion_control_handle", "--inactive", "-c", "/controller_manager"],
    )
    
    cartesian_compliance_controller_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["cartesian_compliance_controller", "--inactive", "-c", "/controller_manager"],
    )

    # Gazebo nodes
    gazebo = IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                [os.path.join(get_package_share_directory('ros_ign_gazebo'),
                              'launch', 'ign_gazebo.launch.py')]),
                launch_arguments=[('ign_args', [' -r ',world_config_file, " --physics-engine ignition-physics-dartsim-plugin --render-engine ogre2"])],
                condition=IfCondition(sim_gazebo))
    # 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',
                 condition=IfCondition(sim_gazebo))

    # MoveIt Configuration
    robot_description_semantic_content = Command(
        [
            PathJoinSubstitution([FindExecutable(name="xacro")]),
            " ",
            PathJoinSubstitution(
                [FindPackageShare(moveit_config_package), "srdf", moveit_config_file]
            ),
            " ",
            "name:=",
            "ur",
            " ",
            "tf_prefix:=",
            tf_prefix,
            " ",
            "with_gripper:=",
            with_gripper_condition
        ]
    )
    robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}

    robot_description_kinematics = PathJoinSubstitution(
        [FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
    )

    # 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")
    ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)

    controllers_yaml = load_yaml("ur_moveit_config", "config/controllers.yaml")

    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": 100.0,
        "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,
    }

    move_group_node = Node(
        package="moveit_ros_move_group",
        executable="move_group",
        output="screen",
        parameters=[
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            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,
            robot_description_kinematics,
        ],
        condition=IfCondition(launch_rviz),
    )
    # TODO: Launch skill servers in other launch file
    move_topose_action_server = Node(
        package="rbs_skill_servers",
        executable="move_topose_action_server",
        parameters=[
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            {"use_sim_time": use_sim_time},
        ]
    )

    gripper_control_node = Node(
        package="rbs_skill_servers",
        executable="gripper_control_action_server",
        parameters= [
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            {"use_sim_time": use_sim_time},
        ],
        condition=IfCondition(with_gripper_condition)
    )

    move_cartesian_path_action_server = Node(
        package="rbs_skill_servers",
        executable="move_cartesian_path_action_server",
        parameters=[
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            {"use_sim_time": use_sim_time},
        ]
    )
    
    move_joint_state_action_server = Node(
        package="rbs_skill_servers",
        executable="move_to_joint_states_action_server",
        parameters=[
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            {"use_sim_time": use_sim_time},
        ]
    )
        
    grasp_pose_loader = Node(
        package="rbs_skill_servers",
        executable="pick_place_pose_loader_service_server",
        output="screen",
        emulate_tty=True,
        parameters=[
            points_params
        ]
    )

    assemble_state = Node(
        package="rbs_skill_servers",
        executable="assemble_state_service_server",
        output="screen",
        parameters=[
            {'assemble_tf_prefix': 'ASSEMBLE_'},
            {'assemble_dir': assemble_dir}
        ]
    )

    moveit_planning_scene_init = Node(
        package="rbs_skill_servers",
        executable="moveit_update_planning_scene_service_server",
        output="screen",
        parameters=[
            {'init_scene': world_config_file},
            {'models_paths': os.environ['IGN_GAZEBO_RESOURCE_PATH']}
        ]
    )

    moveit_planning_scene_init = Node(
        package="rbs_skill_servers",
        executable="moveit_update_planning_scene_service_server",
        output="screen",
        parameters=[
            {'init_scene': world_config_file},
            {'models_paths': os.environ['IGN_GAZEBO_RESOURCE_PATH']}
        ]
    )

    moveit_planning_scene_init = Node(
        package="rbs_skill_servers",
        executable="moveit_update_planning_scene_service_server",
        output="screen",
        parameters=[
            {'init_scene': world_config_file},
            {'models_paths': os.environ['IGN_GAZEBO_RESOURCE_PATH']}
        ]
    )
    
    # add_planning_scene_object = Node(
    #     package="rbs_skill_servers",
    #     executable="add_planning_scene_object_service",
    #     output="screen",
    #     parameters=[
    #         robot_description,
    #         robot_description_semantic,
    #         robot_description_kinematics,
    #         {"use_sim_time": use_sim_time},
    #     ]
    # )
    
    # remappings = [('/camera', '/camera/image'),
    #               ('/camera_info', '/camera/camera_info')]
    # # Bridge
    # bridge = Node(
    #     package='ros_gz_bridge',
    #     executable='parameter_bridge',
    #     arguments=[
    #         '/camera@sensor_msgs/msg/Image@gz.msgs.Image',
    #         '/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
    #         '/rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
    #         '/rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
    #         '/rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
    #         '/rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
    #     ],
    #     output='screen',
    #     remappings=remappings,
    # )
    
    # pc_filter = Node(
    #     package="rbs_perception",
    #     executable="pc_filter",
    #     output="screen",
    #     #tf_prefix=['xterm -e gdb -ex run --args'],
    # )
    
    grasp_marker = Node(
        package="rbs_perception",
        executable="grasp_marker_publish.py",
    )
    
    nodes_to_start = [
        control_node,
        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,
        gripper_controller,
        gripper_control_node,
        move_topose_action_server,
        move_cartesian_path_action_server,
        move_joint_state_action_server,
        grasp_pose_loader,
        assemble_state,
        moveit_planning_scene_init,
        #add_planning_scene_object
    ]

    return LaunchDescription(declared_arguments + nodes_to_start)