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tmp fixes in launch files

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This commit is contained in:
Ilya Uraev 2025-03-10 13:49:07 +03:00
parent 9bc4774e8c
commit 6b19b8bb9b
2 changed files with 26 additions and 23 deletions
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16
rbs_bringup/launch/rbs_robot.launch.py
View file

@ -59,11 +59,11 @@ def launch_setup(context, *args, **kwargs):
"robot_description": robot_description_content.perform(context) "robot_description": robot_description_content.perform(context)
} }
robot_description_kinematics_filepath = os.path.join( # robot_description_kinematics_filepath = os.path.join(
get_package_share_directory(moveit_config_package.perform(context)), # get_package_share_directory(moveit_config_package.perform(context)),
"config", # "moveit",
"kinematics.yaml", # "kinematics.yaml",
) # )
# robot_description_kinematics = { # robot_description_kinematics = {
# "robot_description_kinematics": robot_description_kinematics # "robot_description_kinematics": robot_description_kinematics
@ -118,8 +118,8 @@ def launch_setup(context, *args, **kwargs):
"tf_prefix": robot_name, "tf_prefix": robot_name,
"with_gripper": with_gripper_condition, "with_gripper": with_gripper_condition,
"robot_description": robot_description_content, "robot_description": robot_description_content,
"robot_description_semantic": robot_description_semantic_content, # "robot_description_semantic": robot_description_semantic_content,
"robot_description_kinematics": robot_description_kinematics_filepath, # "robot_description_kinematics": robot_description_kinematics_filepath,
"namespace": namespace, "namespace": namespace,
}.items(), }.items(),
condition=IfCondition(use_moveit), condition=IfCondition(use_moveit),
@ -140,7 +140,7 @@ def launch_setup(context, *args, **kwargs):
launch_arguments={ launch_arguments={
"robot_description": robot_description_content, "robot_description": robot_description_content,
"robot_description_semantic": robot_description_semantic_content, "robot_description_semantic": robot_description_semantic_content,
"robot_description_kinematics": robot_description_kinematics_filepath, # "robot_description_kinematics": robot_description_kinematics_filepath,
"use_sim_time": use_sim_time, "use_sim_time": use_sim_time,
"with_gripper_condition": with_gripper_condition, "with_gripper_condition": with_gripper_condition,
"namespace": namespace, "namespace": namespace,

33
rbs_skill_servers/launch/skills.launch.py
View file

@ -9,8 +9,12 @@ from rbs_launch_utils.launch_common import load_yaml, load_yaml_abs
def launch_setup(context, *args, **kwargs): def launch_setup(context, *args, **kwargs):
robot_description_content = LaunchConfiguration("robot_description") robot_description_content = LaunchConfiguration("robot_description")
robot_description_semantic_content = LaunchConfiguration("robot_description_semantic") robot_description_semantic_content = LaunchConfiguration(
robot_description_kinematics_filepath = LaunchConfiguration("robot_description_kinematics") "robot_description_semantic"
)
robot_description_kinematics_filepath = LaunchConfiguration(
"robot_description_kinematics"
)
use_sim_time = LaunchConfiguration("use_sim_time") use_sim_time = LaunchConfiguration("use_sim_time")
use_moveit = LaunchConfiguration("use_moveit") use_moveit = LaunchConfiguration("use_moveit")
ee_link_name = LaunchConfiguration("ee_link_name").perform(context) ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
@ -23,13 +27,16 @@ def launch_setup(context, *args, **kwargs):
} }
namespace = LaunchConfiguration("namespace") namespace = LaunchConfiguration("namespace")
kinematics_yaml = load_yaml_abs(robot_description_kinematics_filepath.perform(context)) # kinematics_yaml = load_yaml_abs(
robot_description_kinematics = {"robot_description_kinematics": kinematics_yaml} # robot_description_kinematics_filepath.perform(context)
# )
# robot_description_kinematics = {"robot_description_kinematics": kinematics_yaml}
skills_container = ComposableNodeContainer( skills_container = ComposableNodeContainer(
name="skills", name="skills",
namespace=namespace, namespace=namespace,
package="rclcpp_components", package="rclcpp_components",
# prefix=['kitty -e gdb -ex run --args'],
# prefix=['gdbserver localhost:1234'], # prefix=['gdbserver localhost:1234'],
executable="component_container_mt", executable="component_container_mt",
composable_node_descriptions=[ composable_node_descriptions=[
@ -79,8 +86,10 @@ def launch_setup(context, *args, **kwargs):
parameters=[ parameters=[
robot_description, robot_description,
robot_description_semantic, robot_description_semantic,
robot_description_kinematics, # robot_description_kinematics,
{"use_sim_time": use_sim_time}, {"use_sim_time": use_sim_time},
{"base_link": base_link_name},
{"ee_link": ee_link_name},
], ],
condition=IfCondition(use_moveit), condition=IfCondition(use_moveit),
), ),
@ -91,7 +100,7 @@ def launch_setup(context, *args, **kwargs):
parameters=[ parameters=[
robot_description, robot_description,
robot_description_semantic, robot_description_semantic,
robot_description_kinematics, # robot_description_kinematics,
{"use_sim_time": use_sim_time}, {"use_sim_time": use_sim_time},
], ],
condition=IfCondition(use_moveit), condition=IfCondition(use_moveit),
@ -130,15 +139,9 @@ def generate_launch_description():
declared_arguments.append( declared_arguments.append(
DeclareLaunchArgument("with_gripper_condition", default_value="") DeclareLaunchArgument("with_gripper_condition", default_value="")
) )
declared_arguments.append( declared_arguments.append(DeclareLaunchArgument("namespace", default_value=""))
DeclareLaunchArgument("namespace", default_value="") declared_arguments.append(DeclareLaunchArgument("ee_link_name", default_value=""))
) declared_arguments.append(DeclareLaunchArgument("base_link_name", default_value=""))
declared_arguments.append(
DeclareLaunchArgument("ee_link_name", default_value="")
)
declared_arguments.append(
DeclareLaunchArgument("base_link_name", default_value="")
)
return LaunchDescription( return LaunchDescription(
declared_arguments + [OpaqueFunction(function=launch_setup)] declared_arguments + [OpaqueFunction(function=launch_setup)]
) )