add cartesian controllers launch condition

rbs_bringup/launch/bringup.launch.py

@@ -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(