update, add conditions and fix mistakes

rbs_bringup/launch/bringup.launch.py

@@ -163,6 +163,18 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?")
     )
+    declared_arguments.append(
+        DeclareLaunchArgument("launch_sim", default_value="false", description="Launch simulation?")
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument("launch_moveit", default_value="true", description="Launch moveit?")
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument("launch_perception", default_value="false", description="Launch perception?")
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument("launch_task_planner", default_value="false", description="Launch task_planner?")
+    )
 
     # Initialize Arguments
     rbs_robot_type = LaunchConfiguration("rbs_robot_type")
@@ -180,6 +192,10 @@ def generate_launch_description():
     start_joint_controller = LaunchConfiguration("start_joint_controller")
     initial_joint_controller = LaunchConfiguration("initial_joint_controller")
     launch_rviz = LaunchConfiguration("launch_rviz")
+    launch_simulation = LaunchConfiguration("launch_sim")
+    launch_moveit = LaunchConfiguration("launch_moveit")
+    launch_task_planner = LaunchConfiguration("launch_task_planner")
+    launch_perception = LaunchConfiguration("launch_perception")
     moveit_config_package = LaunchConfiguration("moveit_config_package")
     moveit_config_file = LaunchConfiguration("moveit_config_file")
     use_sim_time = LaunchConfiguration("use_sim_time")
@@ -225,6 +241,23 @@ def generate_launch_description():
     )
     robot_description = {"robot_description": robot_description_content}
     
+    # MoveIt Configuration
+    robot_description_semantic_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [FindPackageShare(moveit_config_package), "srdf", moveit_config_file]
+            ), " ",
+            "name:=", "ur", " ",
+            "prefix:=", prefix, " ",
+            "with_gripper:=", with_gripper_condition
+        ]
+    )
+    robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
+    robot_description_kinematics = PathJoinSubstitution(
+        [FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
+    )
     robot_state_publisher = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
@@ -239,9 +272,11 @@ def generate_launch_description():
         output="log",
         arguments=["-d", rviz_config_file],
         parameters=[
-            robot_description
+            robot_description,
+            robot_description_semantic,
+            robot_description_kinematics
         ],
-        condition=IfCondition(launch_rviz),)
+        condition=IfCondition(launch_rviz))
     
     control = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
@@ -253,7 +288,7 @@ def generate_launch_description():
         ]),
         launch_arguments={
             'with_gripper': with_gripper_condition,
-            'robot_description': robot_description,
+            'robot_description': robot_description_content,
             'start_joint_controller': start_joint_controller,
             'initial_joint_controller': initial_joint_controller,
             'controllers_file': controllers_file
@@ -271,7 +306,8 @@ def generate_launch_description():
             'sim_gazebo': sim_gazebo,
             'rbs_robot_type': rbs_robot_type,
             'env_manager': env_manager
-        }.items())
+        }.items(),
+        condition=IfCondition(launch_simulation))
     
     moveit = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
@@ -282,13 +318,15 @@ def generate_launch_description():
             ])
         ]),
         launch_arguments={
-            'robot_description': robot_description,
+            'robot_description': robot_description_content,
             'moveit_config_package': moveit_config_package,
             'moveit_config_file': moveit_config_file,
             'use_sim_time': use_sim_time,
             'prefix': prefix,
-            'with_gripper': with_gripper_condition
-        }.items())
+            'with_gripper': with_gripper_condition,
+            'robot_description_semantic': robot_description_semantic_content
+        }.items(),
+        condition=IfCondition(launch_moveit))
     
     task_planner = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
@@ -300,19 +338,8 @@ def generate_launch_description():
         ]),
         launch_arguments={
             # TBD
-        }.items())
-    
-    task_planner = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
-            PathJoinSubstitution([
-                FindPackageShare('rbs_task_planner'),
-                'launch',
-                'task_planner.launch.py'
-            ])
-        ]),
-        launch_arguments={
-            # TBD
-        }.items())
+        }.items(),
+        condition=IfCondition(launch_task_planner))
     
     perception = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
@@ -324,7 +351,8 @@ def generate_launch_description():
         ]),
         launch_arguments={
             # TBD
-        }.items())
+        }.items(),
+        condition=IfCondition(launch_perception))
 
     nodes_to_start = [
         robot_state_publisher,

rbs_bringup/launch/control.launch.py

@@ -43,7 +43,7 @@ def generate_launch_description():
             description="YAML file with the controllers configuration.",
         )
     )
-    robot_description = LaunchConfiguration("robot_description")
+    robot_description_content = LaunchConfiguration("robot_description")
     runtime_config_package = LaunchConfiguration("runtime_config_package")
     controllers_file = LaunchConfiguration("controllers_file")
     start_joint_controller = LaunchConfiguration("start_joint_controller")
@@ -53,6 +53,7 @@ def generate_launch_description():
     initial_joint_controllers_file_path = PathJoinSubstitution(
         [FindPackageShare(runtime_config_package), "config", controllers_file]
     )
+    robot_description = {"robot_description": robot_description_content}
 
     control_node = Node(
         package="controller_manager",

rbs_bringup/launch/moveit.launch.py

@@ -16,7 +16,14 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "robot_description",
             default_value="",
-            description="robot description param",
+            description="robot description string",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "robot_description_semantic",
+            default_value="",
+            description="robot description semantic string",
         )
     )
     declared_arguments.append(
@@ -63,21 +70,10 @@ def generate_launch_description():
     moveit_config_file = LaunchConfiguration("moveit_config_file")
     use_sim_time = LaunchConfiguration("use_sim_time")
     with_gripper_condition = LaunchConfiguration("with_gripper")
-    robot_description = LaunchConfiguration("robot_description")
-        
-    # MoveIt Configuration
-    robot_description_semantic_content = Command(
-        [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
-            " ",
-            PathJoinSubstitution(
-                [FindPackageShare(moveit_config_package), "srdf", moveit_config_file]
-            ), " ",
-            "name:=", "ur", " ",
-            "prefix:=", prefix, " ",
-            "with_gripper:=", with_gripper_condition
-        ]
-    )
+    robot_description_content = LaunchConfiguration("robot_description")
+    robot_description_semantic_content = LaunchConfiguration("robot_description_semantic")
+
+    robot_description = {"robot_description": robot_description_content}
     robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
     use_sim_time = {"use_sim_time": use_sim_time}