robossembler/runtime
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update README and update launch files

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This commit is contained in:
Ilya Uraev 2023-07-24 16:06:39 +03:00
parent 5314c1adf5
commit 6fa469be36
5 changed files with 11 additions and 10 deletions
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8
env_manager/CMakeLists.txt
View file

@ -68,12 +68,12 @@ if(NOT WIN32)
"${ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH}") "${ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH}")
endif() endif()
add_executable(main add_executable(env_manager_node
src/main.cpp src/main.cpp
) )
target_link_libraries(main env_manager lua glog) target_link_libraries(env_manager_node env_manager lua glog)
ament_target_dependencies( ament_target_dependencies(
main env_manager_node
Boost Boost
rcl rcl
rclcpp rclcpp
@ -96,7 +96,7 @@ install(
) )
install( install(
TARGETS main TARGETS env_manager_node
DESTINATION lib/${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME}
) )

4
env_manager/README.md
View file

@ -142,8 +142,8 @@ return ENV_MANAGER
``` ```
Start env_manager Start env_manager
```bash ```bash
cd ${WS_DIR} && .install/setup.bash source install/setup.bash
./install/env_manager/lib/env_manager/main ros2 run env_manager env_manager_node
``` ```
### License ### License
Distributed under the Apache 2.0 License. See LICENSE for more information. Distributed under the Apache 2.0 License. See LICENSE for more information.

4
rbs_bringup/launch/bringup.launch.py
View file

@ -161,10 +161,10 @@ def generate_launch_description():
DeclareLaunchArgument("sim_fake", default_value="false", description="Mock contollers") DeclareLaunchArgument("sim_fake", default_value="false", description="Mock contollers")
) )
declared_arguments.append( declared_arguments.append(
DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?") DeclareLaunchArgument("env_manager", default_value="true", description="Launch env_manager?")
) )
declared_arguments.append( declared_arguments.append(
DeclareLaunchArgument("launch_sim", default_value="false", description="Launch simulation?") DeclareLaunchArgument("launch_sim", default_value="true", description="Launch simulation?")
) )
declared_arguments.append( declared_arguments.append(
DeclareLaunchArgument("launch_moveit", default_value="true", description="Launch moveit?") DeclareLaunchArgument("launch_moveit", default_value="true", description="Launch moveit?")

3
rbs_bringup/launch/moveit.launch.py
View file

@ -192,6 +192,7 @@ def generate_launch_description():
move_topose_action_server, move_topose_action_server,
gripper_control_node, gripper_control_node,
move_cartesian_path_action_server, move_cartesian_path_action_server,
move_joint_state_action_server move_joint_state_action_server,
moveit_planning_scene_init
] ]
return LaunchDescription(declared_arguments + nodes_to_start) return LaunchDescription(declared_arguments + nodes_to_start)

2
rbs_bringup/launch/simulation.launch.py
View file

@ -53,7 +53,7 @@ def generate_launch_description():
condition=IfCondition(sim_gazebo)) condition=IfCondition(sim_gazebo))
env_manager = Node(package="env_manager", env_manager = Node(package="env_manager",
executable="main", executable="env_manager_node",
condition=IfCondition(env_manager_cond) condition=IfCondition(env_manager_cond)
) )