🔨 get stable launch move_group plus gazebo
This commit is contained in:
parent
e965d90ab8
commit
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7 changed files with 197 additions and 201 deletions
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@ -58,9 +58,9 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
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include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
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add_executable(rasms_moveit src/run_moveit.cpp)
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#target_include_directories(rasms_moveit PRIVATE include)
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target_include_directories(rasms_moveit PUBLIC include)
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ament_target_dependencies(rasms_moveit
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${THIS_PACKAGE_INCLUDE_DEPENDS}
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${THIS_PACKAGE_INCLUDE_DEPENDS} Boost
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)
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install(TARGETS rasms_moveit
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@ -7,7 +7,7 @@ Panels:
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- /Global Options1
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- /Status1
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Splitter Ratio: 0.5
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Tree Height: 814
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Tree Height: 743
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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@ -21,6 +21,8 @@ Panels:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz_visual_tools/RvizVisualToolsGui
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Name: RvizVisualToolsGui
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Visualization Manager:
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Class: ""
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Displays:
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@ -106,6 +108,105 @@ Visualization Manager:
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Show Robot Collision: false
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Show Robot Visual: true
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Value: true
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- Class: rviz_default_plugins/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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base:
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Value: true
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link1:
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Value: true
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link2:
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Value: true
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link3:
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Value: true
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link4:
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Value: true
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link5:
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Value: true
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link6:
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Value: true
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world:
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Value: true
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Marker Scale: 0.5
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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world:
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base:
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link1:
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link2:
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link3:
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link4:
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link5:
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link6:
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{}
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Update Interval: 0
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Value: true
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- Class: moveit_rviz_plugin/Trajectory
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Color Enabled: false
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Enabled: true
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Interrupt Display: false
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Loop Animation: false
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Name: Trajectory
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Robot Alpha: 0.5
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Robot Color: 150; 50; 150
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Robot Description: robot_description
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Show Robot Collision: false
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Show Robot Visual: true
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Show Trail: false
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State Display Time: 0.05 s
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Trail Step Size: 1
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Trajectory Topic: /display_planned_path
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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@ -149,7 +250,7 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 1.8626145124435425
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Distance: 2.2047624588012695
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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@ -164,10 +265,10 @@ Visualization Manager:
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.84539794921875
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Pitch: 0.7153979539871216
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.6953980922698975
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Yaw: 0.7453981041908264
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Saved: ~
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Window Geometry:
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Displays:
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@ -175,11 +276,15 @@ Window Geometry:
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Height: 1043
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001f3000003b9fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003b9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b2000002290000000000000000000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000472000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 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RvizVisualToolsGui:
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collapsed: false
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Selection:
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collapsed: false
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Tool Properties:
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collapsed: false
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Trajectory - Trajectory Slider:
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collapsed: false
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Views:
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collapsed: false
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Width: 1920
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@ -1,15 +1,14 @@
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# see controllers: http://control.ros.org/ros2_controllers/doc/controllers_index.html
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controller_manager:
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ros__parameters:
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update_rate: 1000 # Hz
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update_rate: 500 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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position_trajectory_controller:
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rasms_arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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position_trajectory_controller:
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rasms_arm_controller:
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ros__parameters:
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joints:
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- joint1
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@ -1,8 +1,8 @@
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controller_names:
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- position_trajectory_controller
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- rasms_arm_controller
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# http://control.ros.org/ros2_controllers/joint_trajectory_controller/doc/userdoc.html#ros2-interface-of-the-controller
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position_trajectory_controller:
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rasms_arm_controller:
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action_ns: follow_joint_trajectory
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type: FollowJointTrajectory
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default: true
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@ -11,16 +11,32 @@ import xacro
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import os
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from ament_index_python import get_package_share_directory
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def generate_launch_description():
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def launch_setup(context, *args, **kwargs):
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# Launch arguments
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launch_args = []
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# Evaluate frequently used variables
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model = LaunchConfiguration("model").perform(context)
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launch_args.append(DeclareLaunchArgument(
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name="robot_name",
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default_value="rasms",
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description="Set robot name."
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)
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)
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launch_args.append(DeclareLaunchArgument(
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name="sim",
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default_value="true",
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description="Launch robot in simulation or on real setup."
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)
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)
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# get xacro file path
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xacro_file = os.path.join(get_package_share_directory("rasms_description"),"urdf/","rasms_description.urdf.xacro")
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# get error if xacro file if missing
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assert os.path.exists(xacro_file), "The xacro file of rasms_description doesnt exist"+str(xacro_file)
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# parse xacro file from file
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robot_description = xacro.process_file(xacro_file)
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# convert file to xml format
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robot_description_content = robot_description.toxml()
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#print(robot_description_content)
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# Load controls
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control = IncludeLaunchDescription(
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@ -31,10 +47,7 @@ def launch_setup(context, *args, **kwargs):
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"rasms_control.launch.py"
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])
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), launch_arguments=[
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("robot_description", robot_description_content),
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("controller_configurations_package", LaunchConfiguration("controller_configurations_package")),
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("controller_configurations", LaunchConfiguration("controller_configurations")),
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("sim", LaunchConfiguration("sim"))
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("robot_description", robot_description_content)
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]
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)
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@ -64,76 +77,18 @@ def launch_setup(context, *args, **kwargs):
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),
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launch_arguments=[
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("robot_description", robot_description_content),
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("moveit_controller_configurations_package", LaunchConfiguration("moveit_controller_configurations_package")),
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("moveit_controller_configurations", LaunchConfiguration("moveit_controller_configurations")),
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("model", LaunchConfiguration("model")),
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("sim", LaunchConfiguration("sim"))
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]
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)
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return [
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simulation,
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control,
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move_group
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]
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launch_nodes = []
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launch_nodes.append(control)
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launch_nodes.append(simulation)
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launch_nodes.append(move_group)
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def generate_launch_description():
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# Launch arguments
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launch_args = []
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launch_args.append(DeclareLaunchArgument(
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name="model",
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default_value="rasms_description",
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description="Desired LBR model. Use model:=iiwa7/iiwa14/med7/med14."
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))
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launch_args.append(DeclareLaunchArgument(
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name="robot_name",
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default_value="rasms",
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description="Set robot name."
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))
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launch_args.append(DeclareLaunchArgument(
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name="sim",
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default_value="true",
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description="Launch robot in simulation or on real setup."
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))
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launch_args.append(
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DeclareLaunchArgument(
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name="controller_configurations_package",
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default_value="rasms_moveit_config",
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description="Package that contains controller configurations."
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)
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)
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launch_args.append(
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DeclareLaunchArgument(
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name="controller_configurations",
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default_value="config/rasms_controllers.yml",
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description="Relative path to controller configurations YAML file. Note that the joints in the controllers must be named according to the robot_name."
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)
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)
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launch_args.append(
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DeclareLaunchArgument(
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name="moveit_controller_configurations_package",
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default_value="rasms_moveit_config",
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description="Package that contains MoveIt! controller configurations."
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)
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)
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launch_args.append(
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DeclareLaunchArgument(
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name="moveit_controller_configurations",
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default_value="config/rasms_moveit_controllers.yml",
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description="Relative path to MoveIt! controller configurations YAML file. Note that the joints in the controllers must be named according to the robot_name. This file lists controllers that are loaded through the controller_configurations file."
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)
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)
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return LaunchDescription(
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launch_args + [
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OpaqueFunction(function=launch_setup)
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])
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launch_args +
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launch_nodes
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)
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@ -16,22 +16,6 @@ def generate_launch_description():
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# Launch arguments
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launch_args = []
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launch_args.append(
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DeclareLaunchArgument(
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name="controller_configurations_package",
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default_value="rasms_moveit_config",
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description="Package that contains controller configurations."
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)
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)
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launch_args.append(
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DeclareLaunchArgument(
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name="controller_configurations",
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default_value="config/rasms_controllers.yml",
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description="Relative path to controller configurations YAML file."
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)
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)
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launch_args.append(
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DeclareLaunchArgument(
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name="robot_description",
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@ -42,27 +26,15 @@ def generate_launch_description():
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launch_args.append(
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DeclareLaunchArgument(
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name="controller",
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default_value="position_trajectory_controller",
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default_value="rasms_arm_controller",
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description="Robot controller."
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)
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)
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launch_args.append(
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DeclareLaunchArgument(
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name="sim",
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default_value="true",
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description="Launch robot in simulation or on real setup."
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)
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)
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# Configure robot_description
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robot_description = {"robot_description": LaunchConfiguration("robot_description")}
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# Load controllers from YAML configuration file
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"""controller_configurations_path = PathJoinSubstitution([
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FindPackageShare(LaunchConfiguration("controller_configurations_package")),
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LaunchConfiguration("controller_configurations")
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])"""
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ros2_controllers_path = os.path.join(
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get_package_share_directory("rasms_moveit_config"),
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"config",
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@ -95,21 +67,21 @@ def generate_launch_description():
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arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "base"],
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)
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"""joint_state_broadcaster = Node(
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joint_state_broadcaster = Node(
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package="controller_manager",
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executable="spawner.py",
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arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
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)
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controller = Node(
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rasms_arm_controller = Node(
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package="controller_manager",
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executable="spawner.py",
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arguments=["position_trajectory_controller", "--controller-manager", "/controller_manager"],
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)"""
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arguments=["rasms_arm_controller", "--controller-manager", "/controller_manager"],
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)
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load_controllers = []
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"""load_controllers = []
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for controller in [
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"position_trajectory_controller",
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"rasms_arm_controller",
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"joint_state_broadcaster",
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]:
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load_controllers += [
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|
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@ -118,14 +90,16 @@ def generate_launch_description():
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shell=True,
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output="screen",
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)
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]
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]"""
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return LaunchDescription(
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launch_args +
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load_controllers +
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#load_controllers +
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[
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controller_manager,
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robot_state_publisher,
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static_tf
|
||||
static_tf,
|
||||
joint_state_broadcaster,
|
||||
rasms_arm_controller
|
||||
]
|
||||
)
|
||||
|
|
|
|||
|
|
@ -32,24 +32,45 @@ def load_file(package_name: str, file_path: str) -> str:
|
|||
return None
|
||||
|
||||
|
||||
def launch_setup(context, *args, **kwargs):
|
||||
def generate_launch_description():
|
||||
|
||||
# Evaluate frequently used variables
|
||||
model = LaunchConfiguration("model").perform(context)
|
||||
#=============
|
||||
#================================================================= Start initialize launch args ==========================================================
|
||||
#=============
|
||||
|
||||
# Configure robot_description
|
||||
# Launch arguments
|
||||
launch_args = []
|
||||
|
||||
launch_args.append(
|
||||
DeclareLaunchArgument(
|
||||
name="robot_description",
|
||||
description="Robot description XML file."
|
||||
)
|
||||
)
|
||||
|
||||
launch_args.append(DeclareLaunchArgument(
|
||||
name="sim",
|
||||
default_value="true",
|
||||
description="Launch robot in simulation or on real setup."
|
||||
))
|
||||
|
||||
#=============
|
||||
#================================================================= Start launching nodes ==========================================================
|
||||
#=============
|
||||
|
||||
# Configure robot_description
|
||||
robot_description = {"robot_description": LaunchConfiguration("robot_description")}
|
||||
|
||||
# Robot semantics SRDF
|
||||
robot_description_semantic = {
|
||||
"robot_description_semantic": load_file("rasms_moveit_config", "srdf/{}.srdf".format(model))
|
||||
"robot_description_semantic": load_file("rasms_moveit_config", "srdf/rasms_description.srdf")
|
||||
}
|
||||
|
||||
# Kinematics
|
||||
kinematics_yaml = load_yaml("rasms_moveit_config", "config/kinematics.yml")
|
||||
|
||||
# Update group name
|
||||
kinematics_yaml["{}_arm".format(model)] = kinematics_yaml["group_name"]
|
||||
kinematics_yaml["rasms_description_arm"] = kinematics_yaml["group_name"]
|
||||
del kinematics_yaml["group_name"]
|
||||
|
||||
# Joint limits
|
||||
|
|
@ -79,8 +100,8 @@ def launch_setup(context, *args, **kwargs):
|
|||
|
||||
# Controllers
|
||||
moveit_simple_controller_yml = load_yaml(
|
||||
LaunchConfiguration("moveit_controller_configurations_package").perform(context),
|
||||
LaunchConfiguration("moveit_controller_configurations").perform(context)
|
||||
"rasms_moveit_config",
|
||||
"config/rasms_moveit_controllers.yml"
|
||||
)
|
||||
|
||||
moveit_controllers = {"moveit_simple_controller_manager": moveit_simple_controller_yml,
|
||||
|
|
@ -110,7 +131,7 @@ def launch_setup(context, *args, **kwargs):
|
|||
# Time configuration
|
||||
use_sim_time = {"use_sime_time": LaunchConfiguration("sim")}
|
||||
|
||||
# Prepare move group node
|
||||
# Simple move_group interface
|
||||
move_group_node = Node(
|
||||
package="moveit_ros_move_group",
|
||||
executable="move_group",
|
||||
|
|
@ -129,8 +150,8 @@ def launch_setup(context, *args, **kwargs):
|
|||
use_sim_time
|
||||
]
|
||||
)
|
||||
|
||||
"""moveit_cpp_node = Node(
|
||||
# Node for test moveit_cpp interface
|
||||
moveit_cpp_node = Node(
|
||||
name="moveit_cpp_actions",
|
||||
package="rasms_moveit_actions",
|
||||
executable="rasms_moveit",
|
||||
|
|
@ -143,20 +164,6 @@ def launch_setup(context, *args, **kwargs):
|
|||
ompl_planning_pipeline_config,
|
||||
moveit_controllers,
|
||||
],
|
||||
)"""
|
||||
|
||||
"""robot_state_publisher = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
output="screen",
|
||||
parameters=[robot_description]
|
||||
)"""
|
||||
|
||||
spawn_controller = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner.py",
|
||||
arguments=["joint_state_broadcaster"],
|
||||
output="screen",
|
||||
)
|
||||
|
||||
# RViz
|
||||
|
|
@ -176,57 +183,13 @@ def launch_setup(context, *args, **kwargs):
|
|||
]
|
||||
)
|
||||
|
||||
return [
|
||||
move_group_node,
|
||||
#moveit_cpp_node,
|
||||
rviz,
|
||||
#robot_state_publisher,
|
||||
spawn_controller
|
||||
]
|
||||
launch_nodes = []
|
||||
launch_nodes.append(rviz)
|
||||
launch_nodes.append(move_group_node)
|
||||
#launch_nodes.append(moveit_cpp_node)
|
||||
|
||||
def generate_launch_description():
|
||||
|
||||
# Launch arguments
|
||||
launch_args = []
|
||||
|
||||
launch_args.append(
|
||||
DeclareLaunchArgument(
|
||||
name="robot_description",
|
||||
description="Robot description XML file."
|
||||
)
|
||||
)
|
||||
|
||||
launch_args.append(
|
||||
DeclareLaunchArgument(
|
||||
name="model",
|
||||
default_value="rasms_description",
|
||||
description="Desired LBR model. Use model:=iiwa7/iiwa14/med7/med14."
|
||||
)
|
||||
)
|
||||
|
||||
launch_args.append(
|
||||
DeclareLaunchArgument(
|
||||
name="moveit_controller_configurations_package",
|
||||
default_value="rasms_moveit_config",
|
||||
description="Package that contains MoveIt! controller configurations."
|
||||
)
|
||||
)
|
||||
|
||||
launch_args.append(
|
||||
DeclareLaunchArgument(
|
||||
name="moveit_controller_configurations",
|
||||
default_value="config/rasms_moveit_controllers.yml",
|
||||
description="Relative path to MoveIt! controller configurations YAML file. Note that the joints in the controllers must be named according to the robot_name."
|
||||
)
|
||||
)
|
||||
|
||||
launch_args.append(DeclareLaunchArgument(
|
||||
name="sim",
|
||||
default_value="true",
|
||||
description="Launch robot in simulation or on real setup."
|
||||
))
|
||||
|
||||
return LaunchDescription(
|
||||
launch_args + [
|
||||
OpaqueFunction(function=launch_setup)
|
||||
])
|
||||
launch_args +
|
||||
launch_nodes
|
||||
)
|
||||
Loading…
Add table
Add a link
Reference in a new issue