refactor env_manager and rbs_gym to work with rbs_runtime
This commit is contained in:
parent
6ea2eefc42
commit
bc8745abe5
95 changed files with 2972 additions and 4304 deletions
278
env_manager/rbs_runtime/launch/runtime.launch.py
Normal file
278
env_manager/rbs_runtime/launch/runtime.launch.py
Normal file
|
@ -0,0 +1,278 @@
|
|||
import os
|
||||
|
||||
import xacro
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import (
|
||||
DeclareLaunchArgument,
|
||||
IncludeLaunchDescription,
|
||||
OpaqueFunction,
|
||||
TimerAction,
|
||||
)
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
|
||||
def launch_setup(context, *args, **kwargs):
|
||||
# Initialize Arguments
|
||||
robot_type = LaunchConfiguration("robot_type")
|
||||
# General arguments
|
||||
with_gripper_condition = LaunchConfiguration("with_gripper")
|
||||
cartesian_controllers = LaunchConfiguration("cartesian_controllers")
|
||||
description_package = LaunchConfiguration("description_package")
|
||||
description_file = LaunchConfiguration("description_file")
|
||||
robot_name = LaunchConfiguration("robot_name")
|
||||
start_joint_controller = LaunchConfiguration("start_joint_controller")
|
||||
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
|
||||
launch_simulation = LaunchConfiguration("launch_sim")
|
||||
launch_moveit = LaunchConfiguration("launch_moveit")
|
||||
launch_task_planner = LaunchConfiguration("launch_task_planner")
|
||||
launch_perception = LaunchConfiguration("launch_perception")
|
||||
moveit_config_package = LaunchConfiguration("moveit_config_package")
|
||||
moveit_config_file = LaunchConfiguration("moveit_config_file")
|
||||
use_sim_time = LaunchConfiguration("use_sim_time")
|
||||
sim_gazebo = LaunchConfiguration("sim_gazebo")
|
||||
hardware = LaunchConfiguration("hardware")
|
||||
env_manager = LaunchConfiguration("env_manager")
|
||||
gazebo_gui = LaunchConfiguration("gazebo_gui")
|
||||
gripper_name = LaunchConfiguration("gripper_name")
|
||||
|
||||
initial_joint_controllers_file_path = os.path.join(
|
||||
get_package_share_directory("rbs_arm"), "config", "rbs_arm0_controllers.yaml"
|
||||
)
|
||||
|
||||
xacro_file = os.path.join(
|
||||
get_package_share_directory(description_package.perform(context)),
|
||||
"urdf",
|
||||
description_file.perform(context),
|
||||
)
|
||||
|
||||
robot_description_doc = xacro.process_file(
|
||||
xacro_file,
|
||||
mappings={
|
||||
"gripper_name": gripper_name.perform(context),
|
||||
"hardware": hardware.perform(context),
|
||||
"simulation_controllers": initial_joint_controllers_file_path,
|
||||
"namespace": "",
|
||||
},
|
||||
)
|
||||
|
||||
robot_description_content = robot_description_doc.toprettyxml(indent=" ")
|
||||
robot_description = {"robot_description": robot_description_content}
|
||||
|
||||
single_robot_setup = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
[
|
||||
PathJoinSubstitution(
|
||||
[FindPackageShare("rbs_bringup"), "launch", "rbs_robot.launch.py"]
|
||||
)
|
||||
]
|
||||
),
|
||||
launch_arguments={
|
||||
"env_manager": env_manager,
|
||||
"with_gripper": with_gripper_condition,
|
||||
"gripper_name": gripper_name,
|
||||
"controllers_file": initial_joint_controllers_file_path,
|
||||
"robot_type": robot_type,
|
||||
# "controllers_file": controller_paramfile,
|
||||
"cartesian_controllers": cartesian_controllers,
|
||||
"description_package": description_package,
|
||||
"description_file": description_file,
|
||||
"robot_name": robot_type,
|
||||
"start_joint_controller": start_joint_controller,
|
||||
"initial_joint_controller": initial_joint_controller,
|
||||
"launch_simulation": launch_simulation,
|
||||
"launch_moveit": launch_moveit,
|
||||
"launch_task_planner": launch_task_planner,
|
||||
"launch_perception": launch_perception,
|
||||
"moveit_config_package": moveit_config_package,
|
||||
"moveit_config_file": moveit_config_file,
|
||||
"use_sim_time": use_sim_time,
|
||||
"sim_gazebo": sim_gazebo,
|
||||
"hardware": hardware,
|
||||
"launch_controllers": "true",
|
||||
"gazebo_gui": gazebo_gui,
|
||||
"robot_description": robot_description_content,
|
||||
}.items(),
|
||||
)
|
||||
|
||||
rbs_runtime = Node(
|
||||
package="rbs_runtime",
|
||||
executable="runtime.py",
|
||||
parameters=[robot_description, {"use_sim_time": True}],
|
||||
)
|
||||
|
||||
clock_bridge = Node(
|
||||
package="ros_gz_bridge",
|
||||
executable="parameter_bridge",
|
||||
arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"],
|
||||
output="screen",
|
||||
)
|
||||
|
||||
delay_robot_control_stack = TimerAction(period=10.0, actions=[single_robot_setup])
|
||||
|
||||
nodes_to_start = [rbs_runtime, clock_bridge,
|
||||
delay_robot_control_stack
|
||||
]
|
||||
return nodes_to_start
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
declared_arguments = []
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"robot_type",
|
||||
description="Type of robot by name",
|
||||
choices=["rbs_arm", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
|
||||
default_value="rbs_arm",
|
||||
)
|
||||
)
|
||||
# General arguments
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"controllers_file",
|
||||
default_value="rbs_arm0_controllers.yaml",
|
||||
description="YAML file with the controllers configuration.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"description_package",
|
||||
default_value="rbs_arm",
|
||||
description="Description package with robot URDF/XACRO files. Usually the argument \
|
||||
is not set, it enables use of a custom description.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"description_file",
|
||||
default_value="rbs_arm_modular.xacro",
|
||||
description="URDF/XACRO description file with the robot.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"robot_name",
|
||||
default_value="arm0",
|
||||
description="Name for robot, used to apply namespace for specific robot in multirobot setup",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"start_joint_controller",
|
||||
default_value="false",
|
||||
description="Enable headless mode for robot control",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"initial_joint_controller",
|
||||
default_value="joint_trajectory_controller",
|
||||
description="Robot controller to start.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"moveit_config_package",
|
||||
default_value="rbs_arm",
|
||||
description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
|
||||
is not set, it enables use of a custom moveit config.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"moveit_config_file",
|
||||
default_value="rbs_arm.srdf.xacro",
|
||||
description="MoveIt SRDF/XACRO description file with the robot.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"use_sim_time",
|
||||
default_value="true",
|
||||
description="Make MoveIt to use simulation time.\
|
||||
This is needed for the trajectory planing in simulation.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"gripper_name",
|
||||
default_value="rbs_gripper",
|
||||
choices=["rbs_gripper", ""],
|
||||
description="choose gripper by name (leave empty if hasn't)",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"with_gripper", default_value="true", description="With gripper or not?"
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"sim_gazebo", default_value="true", description="Gazebo Simulation"
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"env_manager", default_value="true", description="Launch env_manager?"
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"launch_sim",
|
||||
default_value="true",
|
||||
description="Launch simulator (Gazebo)?\
|
||||
Most general arg",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"launch_moveit", default_value="false", description="Launch moveit?"
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"launch_perception", default_value="false", description="Launch perception?"
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"launch_task_planner",
|
||||
default_value="false",
|
||||
description="Launch task_planner?",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"cartesian_controllers",
|
||||
default_value="true",
|
||||
description="Load cartesian\
|
||||
controllers?",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"hardware",
|
||||
choices=["gazebo", "mock"],
|
||||
default_value="gazebo",
|
||||
description="Choose your harware_interface",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"launch_controllers",
|
||||
default_value="true",
|
||||
description="Launch controllers?",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"gazebo_gui", default_value="true", description="Launch gazebo with gui?"
|
||||
)
|
||||
)
|
||||
|
||||
return LaunchDescription(
|
||||
declared_arguments + [OpaqueFunction(function=launch_setup)]
|
||||
)
|
Loading…
Add table
Add a link
Reference in a new issue