robossembler/runtime
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Merge branch 'main' into 77-cartesian-controllers

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This commit is contained in:
Ilya Uraev 2024-01-13 01:49:08 +03:00
commit 2755209c66
144 changed files with 100976 additions and 4303 deletions
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38
rbs_simulation/launch/simulation.launch.py
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@ -34,8 +34,9 @@ def generate_launch_description():
env_manager_cond = LaunchConfiguration("env_manager")
gazebo_gui = LaunchConfiguration("gazebo_gui")
# FIXME: To args when we'll have different files
# TODO: Use global variable to find world file in robossembler_db
world_config_file = PathJoinSubstitution(
[FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"]
[FindPackageShare("rbs_simulation"), "worlds", "asm2.sdf"]
)
# Gazebo nodes
@ -63,16 +64,45 @@ def generate_launch_description():
'-topic', '/robot_description'],
output='screen',
condition=IfCondition(sim_gazebo))
env_manager = Node(package="env_manager",
executable="env_manager_node",
executable="run_env_manager",
condition=IfCondition(env_manager_cond)
)
# Bridge
rgbd_bridge_out = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=[
'/outer_rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
'/outer_rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
'/outer_rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
'/outer_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
],
output='screen',
condition=IfCondition(sim_gazebo)
)
rgbd_bridge_in = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=[
'/inner_rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
'/inner_rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
'/inner_rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
'/inner_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
],
output='screen',
)
nodes_to_start = [
gazebo,
gazebo_server,
gazebo_spawn_robot,
env_manager
env_manager,
rgbd_bridge_out,
rgbd_bridge_in
]
return LaunchDescription(declared_arguments + nodes_to_start)