🔖 renaming robot

rasms_moveit_config/launch/rasms_bringup.launch.py

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+from launch.actions.declare_launch_argument import DeclareLaunchArgument
+from launch.launch_description import LaunchDescription
+from launch.actions import IncludeLaunchDescription, OpaqueFunction
+from launch.conditions import IfCondition
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch.substitutions.launch_configuration import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+import xacro
+import os
+from ament_index_python import get_package_share_directory
+
+
+def launch_setup(context, *args, **kwargs):
+
+    # Evaluate frequently used variables
+    model = LaunchConfiguration("model").perform(context)
+    xacro_file = os.path.join(get_package_share_directory("rasms_description"),"urdf/","rasms_description.urdf.xacro")
+    assert os.path.exists(xacro_file), "The xacro file of rasms_description doesnt exist"+str(xacro_file)
+    robot_description = xacro.process_file(xacro_file)
+    robot_description_content = robot_description.toxml()
+    #print(robot_description_content)
+
+    # Load controls
+    control = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([
+                FindPackageShare("rasms_moveit_config"),
+                "launch",
+                "rasms_control.launch.py"
+            ])
+        ), launch_arguments=[
+            ("robot_description", robot_description_content),
+            ("controller_configurations_package", LaunchConfiguration("controller_configurations_package")),
+            ("controller_configurations", LaunchConfiguration("controller_configurations")),
+            ("controller", LaunchConfiguration("controller")),
+            ("sim", LaunchConfiguration("sim"))
+        ]
+    )
+
+    # Gazebo simulation 
+    simulation = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([
+               FindPackageShare("rasms_moveit_config"),
+                "launch",
+                "rasms_simulation.launch.py"
+            ])
+        ), 
+        launch_arguments=[
+           ("robot_name", LaunchConfiguration("robot_name"))
+        ],
+        condition=IfCondition(LaunchConfiguration("sim"))
+    )
+
+    # Move group
+    move_group = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([
+                FindPackageShare("rasms_moveit_config"),
+                "launch",
+                "rasms_moveit_interface.launch.py"
+            ])
+        ), 
+        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
+    ]
+
+
+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="controller",
+            default_value="position_trajectory_controller",
+            description="Robot controller."
+        )
+    )
+
+    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)
+    ])