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add cartesian controllers launch condition

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This commit is contained in:
Ilya Uraev 2023-07-28 12:53:22 +03:00
parent 8249857e7e
commit 35cd8ba25e
1 changed files with 13 additions and 25 deletions
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38
rbs_bringup/launch/bringup.launch.py
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@ -12,7 +12,6 @@ from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
declared_arguments = []
# UR specific arguments
declared_arguments.append(
DeclareLaunchArgument(
"rbs_robot_type",
@ -21,13 +20,6 @@ def generate_launch_description():
default_value="ur5e",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"with_gripper",
default_value="false",
description="With gripper or not?",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"safety_limits",
@ -50,14 +42,6 @@ def generate_launch_description():
)
)
# 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",
@ -141,16 +125,17 @@ def generate_launch_description():
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("launch_rviz", default_value="true", description="Launch RViz?")
)
declared_arguments.append(
DeclareLaunchArgument("sim_gazebo", default_value="false", description="Gazebo Simulation")
DeclareLaunchArgument("sim_gazebo", default_value="true", description="Gazebo Simulation")
)
declared_arguments.append(
DeclareLaunchArgument("sim_mujoco", default_value="true", description="Mujoco Simulation")
DeclareLaunchArgument("sim_mujoco", default_value="false", description="Mujoco Simulation")
)
declared_arguments.append(
DeclareLaunchArgument("sim_fake", default_value="false", description="Mock contollers")
@ -159,7 +144,7 @@ def generate_launch_description():
DeclareLaunchArgument("env_manager", default_value="true", description="Launch env_manager?")
)
declared_arguments.append(
DeclareLaunchArgument("launch_sim", default_value="true", description="Launch simulation?")
DeclareLaunchArgument("launch_sim", default_value="true", description="Launch simulator (Gazebo)? Most general arg")
)
declared_arguments.append(
DeclareLaunchArgument("launch_moveit", default_value="true", description="Launch moveit?")
@ -170,6 +155,9 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument("launch_task_planner", default_value="true", description="Launch task_planner?")
)
declared_arguments.append(
DeclareLaunchArgument("cartesian_controllers", default_value="false", description="Load cartesian controllers?")
)
# Initialize Arguments
rbs_robot_type = LaunchConfiguration("rbs_robot_type")
@ -177,10 +165,9 @@ def generate_launch_description():
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")
cartesian_controllers = LaunchConfiguration("cartesian_controllers")
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
prefix = LaunchConfiguration("prefix")
@ -201,7 +188,7 @@ def generate_launch_description():
initial_joint_controllers_file_path = PathJoinSubstitution(
[FindPackageShare(runtime_config_package), "config", controllers_file]
[FindPackageShare(description_package), "config", controllers_file]
)
rviz_config_file = PathJoinSubstitution(
@ -286,7 +273,8 @@ def generate_launch_description():
'robot_description': robot_description_content,
'start_joint_controller': start_joint_controller,
'initial_joint_controller': initial_joint_controller,
'controllers_file': controllers_file
'controllers_file': controllers_file,
"cartesian_controllers": cartesian_controllers
}.items())
simulation = IncludeLaunchDescription(