robossembler/runtime
8
0
Fork 0
Code Issues 3 Pull requests Projects Releases Packages Wiki Activity Actions

🔨 get stable launch move_group plus gazebo

Browse source
This commit is contained in:
Ilya Uraev 2021-11-08 21:14:24 +04:00
parent e965d90ab8
commit 77739576fc
7 changed files with 197 additions and 201 deletions
Download patch file Download diff file Expand all files Collapse all files

103
rasms_moveit_config/launch/rasms_bringup.launch.py
View file

@ -11,16 +11,32 @@ import xacro
import os
from ament_index_python import get_package_share_directory
def generate_launch_description():
def launch_setup(context, *args, **kwargs):
# Launch arguments
launch_args = []
# Evaluate frequently used variables
model = LaunchConfiguration("model").perform(context)
launch_args.append(DeclareLaunchArgument(
name="robot_name",
default_value="rasms",
description="Set robot name."
)
)
launch_args.append(DeclareLaunchArgument(
name="sim",
default_value="true",
description="Launch robot in simulation or on real setup."
)
)
# get xacro file path
xacro_file = os.path.join(get_package_share_directory("rasms_description"),"urdf/","rasms_description.urdf.xacro")
# get error if xacro file if missing
assert os.path.exists(xacro_file), "The xacro file of rasms_description doesnt exist"+str(xacro_file)
# parse xacro file from file
robot_description = xacro.process_file(xacro_file)
# convert file to xml format
robot_description_content = robot_description.toxml()
#print(robot_description_content)
# Load controls
control = IncludeLaunchDescription(
@ -31,10 +47,7 @@ def launch_setup(context, *args, **kwargs):
"rasms_control.launch.py"
])
), launch_arguments=[
("robot_description", robot_description_content),
("controller_configurations_package", LaunchConfiguration("controller_configurations_package")),
("controller_configurations", LaunchConfiguration("controller_configurations")),
("sim", LaunchConfiguration("sim"))
("robot_description", robot_description_content)
]
)
@ -64,76 +77,18 @@ def launch_setup(context, *args, **kwargs):
),
launch_arguments=[
("robot_description", robot_description_content),
("moveit_controller_configurations_package", LaunchConfiguration("moveit_controller_configurations_package")),
("moveit_controller_configurations", LaunchConfiguration("moveit_controller_configurations")),
("model", LaunchConfiguration("model")),
("sim", LaunchConfiguration("sim"))
]
)
return [
simulation,
control,
move_group
]
launch_nodes = []
launch_nodes.append(control)
launch_nodes.append(simulation)
launch_nodes.append(move_group)
def generate_launch_description():
# Launch arguments
launch_args = []
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="robot_name",
default_value="rasms",
description="Set robot name."
))
launch_args.append(DeclareLaunchArgument(
name="sim",
default_value="true",
description="Launch robot in simulation or on real setup."
))
launch_args.append(
DeclareLaunchArgument(
name="controller_configurations_package",
default_value="rasms_moveit_config",
description="Package that contains controller configurations."
)
)
launch_args.append(
DeclareLaunchArgument(
name="controller_configurations",
default_value="config/rasms_controllers.yml",
description="Relative path to controller configurations YAML file. Note that the joints in the controllers must be named according to the robot_name."
)
)
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. This file lists controllers that are loaded through the controller_configurations file."
)
)
return LaunchDescription(
launch_args + [
OpaqueFunction(function=launch_setup)
])
launch_args +
launch_nodes
)