chage runtime to rbs_arm and formatting the code
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parent
2755209c66
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6608560a27
2 changed files with 59 additions and 95 deletions
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@ -1,4 +1,3 @@
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import os
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from launch import LaunchDescription
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from launch.actions import (
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DeclareLaunchArgument,
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@ -9,7 +8,6 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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# from rbs_launch_utils.launch_common import load_yaml_abs
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def generate_launch_description():
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declared_arguments = []
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@ -17,50 +15,22 @@ def generate_launch_description():
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DeclareLaunchArgument(
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"rbs_robot_type",
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description="Type of robot by name",
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choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
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default_value="ur5e",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_limits",
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default_value="true",
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description="Enables the safety limits controller if true.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_pos_margin",
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default_value="0.15",
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description="The margin to lower and upper limits in the safety controller.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_k_position",
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default_value="20",
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description="k-position factor in the safety controller.",
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choices=["rbs_arm","ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
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default_value="rbs_arm",
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)
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)
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# General arguments
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_file",
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default_value="ur_plus_gripper_controllers.yaml",
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description="YAML file with the controllers configuration.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_with_gripper_file",
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default_value="ur_plus_gripper_controllers.yaml",
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default_value="rbs_arm_controllers_gazebosim.yaml",
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description="YAML file with the controllers configuration.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_package",
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default_value="ur_description",
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default_value="rbs_arm",
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description="Description package with robot URDF/XACRO files. Usually the argument \
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is not set, it enables use of a custom description.",
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)
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@ -68,7 +38,7 @@ def generate_launch_description():
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_file",
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default_value="ur.urdf.xacro",
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default_value="rbs_arm_modular.xacro",
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description="URDF/XACRO description file with the robot.",
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)
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)
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@ -84,7 +54,7 @@ def generate_launch_description():
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declared_arguments.append(
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DeclareLaunchArgument(
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"start_joint_controller",
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default_value="false",
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default_value="true",
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description="Enable headless mode for robot control",
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)
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)
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@ -95,19 +65,10 @@ def generate_launch_description():
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description="Robot controller to start.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"initial_gripper_controller",
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default_value="gripper_controller",
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description="Robot controller to start.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"moveit_config_package",
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default_value="ur_moveit_config",
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default_value="rbs_arm",
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description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
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is not set, it enables use of a custom moveit config.",
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)
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@ -115,7 +76,7 @@ def generate_launch_description():
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declared_arguments.append(
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DeclareLaunchArgument(
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"moveit_config_file",
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default_value="ur.srdf.xacro",
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default_value="rbs_arm.srdf.xacro",
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description="MoveIt SRDF/XACRO description file with the robot.",
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)
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)
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@ -123,48 +84,65 @@ def generate_launch_description():
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DeclareLaunchArgument(
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"use_sim_time",
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default_value="true",
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description="Make MoveIt to use simulation time. This is needed for the trajectory planing in simulation.",
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description="Make MoveIt to use simulation time.\
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This is needed for the trajectory planing in simulation.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument("with_gripper", default_value="true", description="With gripper or not?")
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DeclareLaunchArgument("with_gripper",
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default_value="true",
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description="With gripper or not?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
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DeclareLaunchArgument("launch_rviz",
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default_value="true",
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description="Launch RViz?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("sim_gazebo", default_value="true", description="Gazebo Simulation")
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DeclareLaunchArgument("sim_gazebo",
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default_value="true",
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description="Gazebo Simulation")
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)
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declared_arguments.append(
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DeclareLaunchArgument("sim_mujoco", default_value="false", description="Mujoco Simulation")
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DeclareLaunchArgument("env_manager",
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default_value="true",
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description="Launch env_manager?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("sim_fake", default_value="false", description="Mock contollers")
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DeclareLaunchArgument("launch_sim",
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default_value="true",
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description="Launch simulator (Gazebo)?\
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Most general arg")
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)
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declared_arguments.append(
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DeclareLaunchArgument("env_manager", default_value="true", description="Launch env_manager?")
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DeclareLaunchArgument("launch_moveit",
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default_value="true",
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description="Launch moveit?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_sim", default_value="true", description="Launch simulator (Gazebo)? Most general arg")
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DeclareLaunchArgument("launch_perception",
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default_value="false",
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description="Launch perception?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_moveit", default_value="true", description="Launch moveit?")
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DeclareLaunchArgument("launch_task_planner",
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default_value="false",
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description="Launch task_planner?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_perception", default_value="false", description="Launch perception?")
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DeclareLaunchArgument("cartesian_controllers",
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default_value="false",
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description="Load cartesian\
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controllers?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_task_planner", default_value="false", description="Launch task_planner?")
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DeclareLaunchArgument("hardware",
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choices=["gazebo", "mock"],
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default_value="gazebo",
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description="Choose your harware_interface")
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)
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declared_arguments.append(
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DeclareLaunchArgument("cartesian_controllers", default_value="false", description="Load cartesian controllers?")
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)
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# Initialize Arguments
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rbs_robot_type = LaunchConfiguration("rbs_robot_type")
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safety_limits = LaunchConfiguration("safety_limits")
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safety_pos_margin = LaunchConfiguration("safety_pos_margin")
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safety_k_position = LaunchConfiguration("safety_k_position")
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# General arguments
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with_gripper_condition = LaunchConfiguration("with_gripper")
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controllers_file = LaunchConfiguration("controllers_file")
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@ -183,8 +161,7 @@ def generate_launch_description():
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moveit_config_file = LaunchConfiguration("moveit_config_file")
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use_sim_time = LaunchConfiguration("use_sim_time")
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sim_gazebo = LaunchConfiguration("sim_gazebo")
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sim_mujoco = LaunchConfiguration("sim_mujoco")
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sim_fake = LaunchConfiguration("sim_fake")
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hardware = LaunchConfiguration("hardware")
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env_manager = LaunchConfiguration("env_manager")
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@ -195,44 +172,36 @@ def generate_launch_description():
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare("rbs_bringup"), "config", "rbs.rviz"]
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)
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[FindPackageShare(description_package), "urdf", description_file]
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),
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PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
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" ",
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"safety_limits:=", safety_limits, " ",
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"safety_pos_margin:=", safety_pos_margin, " ",
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"safety_k_position:=", safety_k_position, " ",
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"name:=", "ur", " ",
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"ur_type:=", rbs_robot_type, " ",
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"gripper_name:=", "", " ",
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"prefix:=", prefix, " ",
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"sim_mujoco:=", sim_mujoco, " ",
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"sim_gazebo:=", sim_gazebo, " ",
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"sim_fake:=", sim_fake, " ",
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"hardware:=", hardware, " ",
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"simulation_controllers:=", initial_joint_controllers_file_path, " ",
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"with_gripper:=", with_gripper_condition, " ",
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]
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)
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robot_description = {"robot_description": robot_description_content}
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# MoveIt Configuration
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robot_description_semantic_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[FindPackageShare(moveit_config_package), "srdf", moveit_config_file]
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), " ",
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"name:=", "ur", " ",
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"prefix:=", prefix, " ",
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"with_gripper:=", with_gripper_condition
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[FindPackageShare(moveit_config_package), "config/moveit", "rbs_arm.srdf.xacro"]
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),
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" ",
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"name:=","rbs_arm"," ",
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"prefix:=",prefix," ",
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]
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)
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robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
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robot_description_kinematics = PathJoinSubstitution(
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[FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
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@ -260,7 +229,7 @@ def generate_launch_description():
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control = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('ur_description'),
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FindPackageShare('rbs_arm'),
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'launch',
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'control.launch.py'
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])
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@ -292,7 +261,7 @@ def generate_launch_description():
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moveit = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('ur_moveit_config'),
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FindPackageShare('rbs_arm'),
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'launch',
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'moveit.launch.py'
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])
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@ -322,7 +291,6 @@ def generate_launch_description():
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'robot_description_kinematics': robot_description_kinematics,
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'use_sim_time': use_sim_time,
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'with_gripper_condition': with_gripper_condition,
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'points_params_filepath': "gripperPositions.yaml"
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}.items()
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)
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@ -363,7 +331,3 @@ def generate_launch_description():
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perception
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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@ -18,8 +18,8 @@ def generate_launch_description():
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DeclareLaunchArgument(
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"rbs_robot_type",
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description="Type of robot by name",
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choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
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default_value="ur5e",
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choices=["rbs_arm" ,"ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
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default_value="rbs_arm",
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)
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)
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declared_arguments.append(
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