robossembler/runtime
7
0
Fork 0
Code Issues 4 Pull requests Projects Releases Packages Wiki Activity Actions

fix last merge

Browse source
This commit is contained in:
Ilya Uraev 2023-02-05 17:04:54 +03:00
parent e46c7bef74
commit 2019e7db41
5 changed files with 66 additions and 31 deletions
Download patch file Download diff file Expand all files Collapse all files

15
rbs_simulation/launch/rbs_simulation.launch.py
View file

@ -3,12 +3,11 @@ from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
OpaqueFunction,
RegisterEventHandler,
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.event_handlers import OnProcessExit, OnExecutionComplete
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
@ -161,7 +160,6 @@ def generate_launch_description():
[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")]),
@ -262,9 +260,6 @@ def generate_launch_description():
[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 = {
@ -314,7 +309,6 @@ def generate_launch_description():
robot_description,
robot_description_semantic,
robot_description_kinematics,
# robot_description_planning,
ompl_planning_pipeline_config,
trajectory_execution,
moveit_controllers,
@ -334,7 +328,6 @@ def generate_launch_description():
robot_description_semantic,
ompl_planning_pipeline_config,
robot_description_kinematics,
# robot_description_planning,
],
condition=IfCondition(launch_rviz),
)
@ -347,7 +340,6 @@ def generate_launch_description():
robot_description,
robot_description_semantic,
robot_description_kinematics,
# robot_description_planning,
ompl_planning_pipeline_config,
trajectory_execution,
moveit_controllers,
@ -364,7 +356,6 @@ def generate_launch_description():
robot_description,
robot_description_semantic,
robot_description_kinematics,
# robot_description_planning,
ompl_planning_pipeline_config,
trajectory_execution,
moveit_controllers,
@ -383,7 +374,7 @@ def generate_launch_description():
gazebo_spawn_robot,
move_group_node,
move_topose_action_server,
move_cartesian_path_action_server
move_cartesian_path_action_server,
]
return LaunchDescription(declared_arguments + nodes_to_start)