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Added rbs_gym package for RL & multi-robot launch setup

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Ilya Uraev 2024-07-04 11:38:08 +00:00 • committed by Igor Brylyov
parent f92670cd0d
commit b58307dea1
103 changed files with 15170 additions and 653 deletions
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9
rbs_bringup/launch/single_robot.launch.py
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@ -76,6 +76,9 @@ def launch_setup(context, *args, **kwargs):
)
# controller_paramfile = configured_params.perform(context)
# controller_paramfile = PathJoinSubstitution([
# FindPackageShare(robot_type), "config", "rbs_arm0_controllers.yaml"
# ])
# namespace = "/" + robot_name.perform(context)
namespace = ""
@ -102,7 +105,7 @@ def launch_setup(context, *args, **kwargs):
"gripper_name": gripper_name,
"controllers_file": controllers_file,
"robot_type": robot_type,
"controllers_file": initial_joint_controllers_file_path,
# "controllers_file": controller_paramfile,
"cartesian_controllers": cartesian_controllers,
"description_package": description_package,
"description_file": description_file,
@ -148,7 +151,7 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="rbs_arm_controllers_gazebosim.yaml",
default_value="rbs_arm0_controllers.yaml",
description="YAML file with the controllers configuration.",
)
)
@ -221,7 +224,7 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument("with_gripper",
default_value="true",
default_value="false",
description="With gripper or not?")
)
declared_arguments.append(