remove robot_builder code from launch file
This commit is contained in:
parent
1dc1da1d3c
commit
3745cb4ac6
1 changed files with 44 additions and 50 deletions
|
|
@ -15,7 +15,6 @@ import xacro
|
|||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from rbs_arm import RbsBuilder
|
||||
|
||||
def launch_setup(context, *args, **kwargs):
|
||||
# Initialize Arguments
|
||||
|
|
@ -53,7 +52,7 @@ def launch_setup(context, *args, **kwargs):
|
|||
controllers_file = controllers_file.perform(context)
|
||||
|
||||
# remappings = [("/tf", "tf"), ("/tf_static", "tf_static")]
|
||||
|
||||
|
||||
xacro_file = os.path.join(get_package_share_directory(description_package), "urdf", description_file)
|
||||
robot_description_doc = xacro.process_file(
|
||||
xacro_file,
|
||||
|
|
@ -72,15 +71,10 @@ def launch_setup(context, *args, **kwargs):
|
|||
}
|
||||
)
|
||||
|
||||
# robot = RbsBuilder(6, "arm0", "world", "rbs_gripper")
|
||||
# robot.base()
|
||||
# robot.gripper()
|
||||
# robot.ros2_control()
|
||||
# robot.moveit()
|
||||
robot_description_content = robot_description_doc.toprettyxml(indent=" ")
|
||||
|
||||
robot_description = {"robot_description": robot_description_content}
|
||||
|
||||
|
||||
robot_description_semantic_content = Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
|
|
@ -94,7 +88,7 @@ def launch_setup(context, *args, **kwargs):
|
|||
"gripper_name:=", gripper_name, " ",
|
||||
]
|
||||
)
|
||||
|
||||
|
||||
robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
|
||||
robot_description_kinematics = PathJoinSubstitution(
|
||||
[FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
|
||||
|
|
@ -145,7 +139,7 @@ def launch_setup(context, *args, **kwargs):
|
|||
'namespace': namespace,
|
||||
}.items(),
|
||||
condition=IfCondition(launch_controllers))
|
||||
|
||||
|
||||
moveit = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([
|
||||
PathJoinSubstitution([
|
||||
|
|
@ -183,7 +177,7 @@ def launch_setup(context, *args, **kwargs):
|
|||
'namespace': namespace
|
||||
}.items()
|
||||
)
|
||||
|
||||
|
||||
task_planner = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([
|
||||
PathJoinSubstitution([
|
||||
|
|
@ -196,7 +190,7 @@ def launch_setup(context, *args, **kwargs):
|
|||
# TBD
|
||||
}.items(),
|
||||
condition=IfCondition(launch_task_planner))
|
||||
|
||||
|
||||
perception = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([
|
||||
PathJoinSubstitution([
|
||||
|
|
@ -310,101 +304,101 @@ def generate_launch_description():
|
|||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("with_gripper",
|
||||
default_value="true",
|
||||
DeclareLaunchArgument("with_gripper",
|
||||
default_value="true",
|
||||
description="With gripper or not?")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("launch_rviz",
|
||||
default_value="true",
|
||||
DeclareLaunchArgument("launch_rviz",
|
||||
default_value="true",
|
||||
description="Launch RViz?")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("sim_gazebo",
|
||||
default_value="true",
|
||||
DeclareLaunchArgument("sim_gazebo",
|
||||
default_value="true",
|
||||
description="Gazebo Simulation")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("env_manager",
|
||||
default_value="true",
|
||||
DeclareLaunchArgument("env_manager",
|
||||
default_value="true",
|
||||
description="Launch env_manager?")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("launch_sim",
|
||||
default_value="true",
|
||||
DeclareLaunchArgument("launch_sim",
|
||||
default_value="true",
|
||||
description="Launch simulator (Gazebo)?\
|
||||
Most general arg")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("launch_moveit",
|
||||
default_value="true",
|
||||
DeclareLaunchArgument("launch_moveit",
|
||||
default_value="true",
|
||||
description="Launch moveit?")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("launch_perception",
|
||||
default_value="false",
|
||||
DeclareLaunchArgument("launch_perception",
|
||||
default_value="false",
|
||||
description="Launch perception?")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("launch_task_planner",
|
||||
default_value="false",
|
||||
DeclareLaunchArgument("launch_task_planner",
|
||||
default_value="false",
|
||||
description="Launch task_planner?")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("cartesian_controllers",
|
||||
default_value="false",
|
||||
DeclareLaunchArgument("cartesian_controllers",
|
||||
default_value="false",
|
||||
description="Load cartesian\
|
||||
controllers?")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("hardware",
|
||||
DeclareLaunchArgument("hardware",
|
||||
choices=["gazebo", "mock"],
|
||||
default_value="gazebo",
|
||||
default_value="gazebo",
|
||||
description="Choose your harware_interface")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("launch_controllers",
|
||||
default_value="true",
|
||||
DeclareLaunchArgument("launch_controllers",
|
||||
default_value="true",
|
||||
description="Launch controllers?")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("gazebo_gui",
|
||||
default_value="false",
|
||||
DeclareLaunchArgument("gazebo_gui",
|
||||
default_value="false",
|
||||
description="Launch gazebo with gui?")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("namespace",
|
||||
default_value="",
|
||||
DeclareLaunchArgument("namespace",
|
||||
default_value="",
|
||||
description="The ROS2 namespace of a robot")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("x",
|
||||
default_value="0.0",
|
||||
DeclareLaunchArgument("x",
|
||||
default_value="0.0",
|
||||
description="Position of robot in world by X")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("y",
|
||||
default_value="0.0",
|
||||
DeclareLaunchArgument("y",
|
||||
default_value="0.0",
|
||||
description="Position of robot in world by Y")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("z",
|
||||
default_value="0.0",
|
||||
DeclareLaunchArgument("z",
|
||||
default_value="0.0",
|
||||
description="Position of robot in world by Z")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("roll",
|
||||
default_value="0.0",
|
||||
DeclareLaunchArgument("roll",
|
||||
default_value="0.0",
|
||||
description="Position of robot in world by Z")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("pitch",
|
||||
default_value="0.0",
|
||||
DeclareLaunchArgument("pitch",
|
||||
default_value="0.0",
|
||||
description="Position of robot in world by Z")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("yaw",
|
||||
default_value="0.0",
|
||||
DeclareLaunchArgument("yaw",
|
||||
default_value="0.0",
|
||||
description="Position of robot in world by Z")
|
||||
)
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue