Add minimal pick-and-place case with world embedded
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209e99a4b3
commit
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64 changed files with 2419 additions and 275 deletions
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@ -3,18 +3,15 @@ from launch import LaunchDescription
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from launch.actions import (
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DeclareLaunchArgument,
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IncludeLaunchDescription,
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RegisterEventHandler
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ExecuteProcess
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)
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from ament_index_python.packages import get_package_share_directory, get_package_share_path
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from ament_index_python.packages import get_package_share_directory
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from launch.conditions import IfCondition, UnlessCondition
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from launch.event_handlers import OnProcessExit, OnExecutionComplete
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from ur_moveit_config.launch_common import load_yaml
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def generate_launch_description():
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declared_arguments = []
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# UR specific arguments
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@ -26,6 +23,13 @@ def generate_launch_description():
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default_value="ur5e",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"with_gripper",
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default_value="true",
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description="With gripper or not?",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_limits",
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@ -63,6 +67,13 @@ def generate_launch_description():
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description="YAML file with the controllers configuration.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_with_gripper_file",
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default_value="ur_plus_gripper_controllers.yaml",
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description="YAML file with the UR + gripper_controller configuration.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_package",
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@ -101,6 +112,14 @@ def generate_launch_description():
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description="Robot controller to start.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"initial_gripper_controller",
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default_value="gripper_controller",
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description="Robot controller to start.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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@ -129,26 +148,31 @@ def generate_launch_description():
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DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
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)
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# Initialize Arguments
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# TODO тут всё переименовать и сделать боеле универсальным как под нашего робото так и под UR чтобы запускалось одинаково
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rbs_robot_type = LaunchConfiguration("rbs_robot_type")
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safety_limits = LaunchConfiguration("safety_limits")
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safety_pos_margin = LaunchConfiguration("safety_pos_margin")
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safety_k_position = LaunchConfiguration("safety_k_position")
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# General arguments
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runtime_config_package = LaunchConfiguration("runtime_config_package")
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controllers_file = LaunchConfiguration("controllers_file")
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with_gripper_condition = LaunchConfiguration("with_gripper")
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controllers_file = LaunchConfiguration("controllers_with_gripper_file")
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description_package = LaunchConfiguration("description_package")
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description_file = LaunchConfiguration("description_file")
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prefix = LaunchConfiguration("prefix")
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start_joint_controller = LaunchConfiguration("start_joint_controller")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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initial_gripper_controller = LaunchConfiguration("initial_gripper_controller")
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launch_rviz = LaunchConfiguration("launch_rviz")
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moveit_config_package = LaunchConfiguration("moveit_config_package")
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moveit_config_file = LaunchConfiguration("moveit_config_file")
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use_sim_time = LaunchConfiguration("use_sim_time")
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initial_joint_controllers = PathJoinSubstitution(
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initial_joint_controllers_file_path = PathJoinSubstitution(
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[FindPackageShare(runtime_config_package), "config", controllers_file]
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)
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@ -157,7 +181,7 @@ def generate_launch_description():
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)
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world_config_file = PathJoinSubstitution(
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[FindPackageShare("sdf_models"), "worlds", "empty_world.sdf"] # TODO тут пакет извне должен задаваться
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[FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"]
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)
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robot_description_content = Command(
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@ -180,7 +204,7 @@ def generate_launch_description():
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"name:=",
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"ur",
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" ",
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"ur_type:=", # TODO сделать более универсальным
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"ur_type:=",
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rbs_robot_type,
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" ",
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"prefix:=",
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@ -189,7 +213,10 @@ def generate_launch_description():
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"sim_ignition:=true",
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" ",
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"simulation_controllers:=",
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initial_joint_controllers,
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initial_joint_controllers_file_path,
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" ",
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"with_gripper:=",
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with_gripper_condition
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]
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)
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robot_description = {"robot_description": robot_description_content}
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@ -220,13 +247,20 @@ def generate_launch_description():
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arguments=[initial_joint_controller, "--controller-manager", "/controller_manager", "--stopped"],
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condition=UnlessCondition(start_joint_controller),
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)
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gripper_controller = ExecuteProcess(
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cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
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"gripper_controller"],
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output='screen',
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condition=IfCondition(with_gripper_condition)
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)
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# Gazebo nodes
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(get_package_share_path('ros_ign_gazebo'), 'launch', 'ign_gazebo.launch.py')),
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launch_arguments={'ign_args': ['-r'," ", world_config_file]}.items(),
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)
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PythonLaunchDescriptionSource(
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[os.path.join(get_package_share_directory('ros_ign_gazebo'),
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'launch', 'ign_gazebo.launch.py')]),
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launch_arguments=[('ign_args', [' -r ',world_config_file, " --physics-engine ignition-physics-dartsim-plugin --render-engine ogre2"])])
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# Spawn robot
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gazebo_spawn_robot = Node(package='ros_ign_gazebo', executable='create',
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arguments=[
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@ -252,6 +286,8 @@ def generate_launch_description():
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"prefix:=",
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prefix,
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" ",
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"with_gripper:=",
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with_gripper_condition
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]
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)
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robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
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@ -260,7 +296,6 @@ def generate_launch_description():
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[FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
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)
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# Planning Configuration
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ompl_planning_pipeline_config = {
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"move_group": {
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@ -269,16 +304,10 @@ def generate_launch_description():
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"start_state_max_bounds_error": 0.1,
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}
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}
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ompl_planning_yaml = load_yaml("ur_moveit_config", "config/ompl_planning.yaml") # TODO сделать извне
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ompl_planning_yaml = load_yaml("ur_moveit_config", "config/ompl_planning.yaml")
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ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
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# Trajectory Execution Configuration
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controllers_yaml = load_yaml("ur_moveit_config", "config/controllers.yaml")
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# the scaled_joint_trajectory_controller does not work on fake hardware
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change_controllers = True
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if change_controllers == "true":
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controllers_yaml["scaled_joint_trajectory_controller"]["default"] = False
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controllers_yaml["joint_trajectory_controller"]["default"] = True
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moveit_controllers = {
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"moveit_simple_controller_manager": controllers_yaml,
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@ -287,7 +316,7 @@ def generate_launch_description():
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trajectory_execution = {
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"moveit_manage_controllers": True,
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"trajectory_execution.allowed_execution_duration_scaling": 1.2,
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"trajectory_execution.allowed_execution_duration_scaling": 100.0,
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"trajectory_execution.allowed_goal_duration_margin": 0.5,
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"trajectory_execution.allowed_start_tolerance": 0.01,
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}
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@ -299,12 +328,10 @@ def generate_launch_description():
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"publish_transforms_updates": True,
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}
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# Start the actual move_group node/action server
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move_group_node = Node(
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package="moveit_ros_move_group",
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executable="move_group",
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output="screen",
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name="move_group",
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parameters=[
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robot_description,
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robot_description_semantic,
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@ -326,24 +353,40 @@ def generate_launch_description():
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parameters=[
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robot_description,
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robot_description_semantic,
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ompl_planning_pipeline_config,
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robot_description_kinematics,
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],
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condition=IfCondition(launch_rviz),
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)
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# TODO: Launch skill servers in other launch file
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move_topose_action_server = Node(
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package="rbs_skill_servers",
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executable="move_topose_action_server",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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{"use_sim_time": use_sim_time},
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]
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)
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gripper_control_node = Node(
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package="rbs_skill_servers",
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executable="gripper_control_action_server",
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parameters= [
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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{"use_sim_time": use_sim_time},
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]
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)
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move_topose_action_server = Node(
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package="rbs_skill_servers",
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executable="move_topose_action_server",
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name="move_to_pose_moveit",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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ompl_planning_pipeline_config,
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trajectory_execution,
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moveit_controllers,
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planning_scene_monitor_parameters,
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{"use_sim_time": use_sim_time},
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]
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)
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@ -351,19 +394,49 @@ def generate_launch_description():
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move_cartesian_path_action_server = Node(
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package="rbs_skill_servers",
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executable="move_cartesian_path_action_server",
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name="move_cartesian_path_action_server",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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ompl_planning_pipeline_config,
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trajectory_execution,
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moveit_controllers,
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planning_scene_monitor_parameters,
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{"use_sim_time": use_sim_time},
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]
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)
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move_joint_state_action_server = Node(
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package="rbs_skill_servers",
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executable="move_to_joint_states_action_server",
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parameters=[
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robot_description,
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robot_description_semantic,
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robot_description_kinematics,
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{"use_sim_time": use_sim_time},
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]
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)
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points_params = load_yaml("rbs_bt_executor", "config/gripperPositions.yaml")
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grasp_pose_loader = Node(
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package="rbs_skill_servers",
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executable="pick_place_pose_loader",
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output="screen",
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emulate_tty=True,
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parameters=[
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points_params
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]
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)
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# add_planning_scene_object = Node(
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# package="rbs_skill_servers",
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# executable="add_planning_scene_object_service",
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# output="screen",
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# parameters=[
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# robot_description,
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# robot_description_semantic,
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# robot_description_kinematics,
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# {"use_sim_time": use_sim_time},
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# ]
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# )
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nodes_to_start = [
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robot_state_publisher_node,
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joint_state_broadcaster_spawner,
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@ -373,8 +446,13 @@ def generate_launch_description():
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gazebo,
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gazebo_spawn_robot,
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move_group_node,
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gripper_controller,
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gripper_control_node,
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move_topose_action_server,
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move_cartesian_path_action_server,
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move_joint_state_action_server,
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grasp_pose_loader,
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#add_planning_scene_object
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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