write move action with moveit

rasms_manipulator/launch/rasms_manipulation.launch.py

@@ -1,16 +1,55 @@
 import os
+import yaml
 
 from ament_index_python.packages import get_package_share_directory
-
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, SetEnvironmentVariable
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
+def load_file(package_name, file_path):
+    package_path = get_package_share_directory(package_name)
+    absolute_file_path = os.path.join(package_path, file_path)
+
+    try:
+        with open(absolute_file_path, "r") as file:
+            return file.read()
+    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
+        return None
+
+
+def load_yaml(package_name, file_path):
+    package_path = get_package_share_directory(package_name)
+    absolute_file_path = os.path.join(package_path, file_path)
+
+    try:
+        with open(absolute_file_path, "r") as file:
+            return yaml.safe_load(file)
+    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
+        return None
+
+
 
 def generate_launch_description():
 
+     # planning_context
+    robot_description_config = load_file(
+        "rasms_description", "urdf/rasms_description.urdf.xacro"
+    )
+    robot_description = {"robot_description": robot_description_config}
+
+    robot_description_semantic_config = load_file(
+        "rasms_moveit_config", "srdf/rasms_description.srdf"
+    )
+    robot_description_semantic = {
+        "robot_description_semantic": robot_description_semantic_config
+    }
+
+    kinematics_yaml = load_yaml(
+        "rasms_moveit_config", "config/kinematics.yml"
+    )
+
     pkg_dir = get_package_share_directory('rasms_manipulator')
     namespace = LaunchConfiguration('namespace')
 
@@ -40,16 +79,21 @@ def generate_launch_description():
         output='screen',
         parameters=[
           pkg_dir + '/config/params.yaml',
+          robot_description, 
+          robot_description_semantic, 
+          kinematics_yaml,
           {
             'action_name': 'move',
-            ### [Groot](https://github.com/BehaviorTree/Groot) behavior_tree_visual tool
-            ### [](https://intelligentroboticslab.gsyc.urjc.es/ros2_planning_system.github.io/design/index.html)
-            # need to provide visual information about working behavior tree
-            # 'publisher_port': 1668,
-            # 'server_port': 1669,
             'bt_xml_file': pkg_dir + '/behavior_trees_xml/move.xml'
           }
         ])
+    transport_1_cmd = Node(
+        package='rasms_manipulator',
+        executable='rasms_action_node',
+        name='transport_1',
+        namespace=namespace,
+        output='screen',
+        parameters=[])   # Create the launch description and populate
     
     ld = LaunchDescription()
 
@@ -59,5 +103,6 @@ def generate_launch_description():
     # Declare the launch options
     ld.add_action(plansys2_cmd)
     ld.add_action(move_1)
+    # ld.add_action(transport_1_cmd)
   
     return ld