🔧 Add launch files for robossembler robot2

rasmt_support/launch/rasmt_control.launch.py

@@ -0,0 +1,78 @@
+from launch.launch_description import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import UnlessCondition
+from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+def generate_launch_description():
+    
+    # Launch arguments
+    launch_args = []
+
+    launch_args.append(
+        DeclareLaunchArgument(
+            name="robot_description",
+            description="Robot description XML file."
+        )
+    )
+
+    launch_args.append(
+        DeclareLaunchArgument(
+            name="sim",
+            default_value="true",
+            description="Launch robot in simulation or on real setup."
+        )
+    )
+
+    # Configure robot_description
+    robot_description = {"robot_description": LaunchConfiguration("robot_description")}
+
+    # Load controllers from YAML configuration file
+    controller_configurations = PathJoinSubstitution([
+        FindPackageShare("rasmt_support"),
+        "config",
+        "rasmt_ros2_controllers.yaml"
+    ])
+
+    # Prepare controller manager and other required nodes
+    controller_manager = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, controller_configurations],
+        output="screen",
+        condition=UnlessCondition(LaunchConfiguration("sim"))
+    )
+
+    robot_state_publisher = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="screen",
+        parameters=[robot_description]
+    )
+
+    joint_state_broadcaster = Node(
+        package="controller_manager",
+        executable="spawner.py",
+        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+    )
+
+    controller_arm = Node(
+        package="controller_manager",
+        executable="spawner.py",
+        arguments=["rasmt_arm_controller", "--controller-manager", "/controller_manager"],
+    )
+    controller_hand = Node(
+        package="controller_manager",
+        executable="spawner.py",
+        arguments=["rasmt_hand_controller", "--controller-manager", "/controller_manager"],
+    )
+
+    return LaunchDescription(
+        launch_args + [
+            controller_manager,
+            robot_state_publisher,
+            joint_state_broadcaster,
+            controller_arm,
+            controller_hand
+    ])

rasmt_support/launch/rasmt_gazebo.launch.py

@@ -0,0 +1,62 @@
+from launch.launch_description import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.substitutions import PathJoinSubstitution, LaunchConfiguration, FindExecutable, Command
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+import xacro
+import os
+from ament_index_python import get_package_share_directory
+
+
+def generate_launch_description():
+
+    launch_args = []
+    launch_args.append(DeclareLaunchArgument(
+        name="robot_name",
+        default_value="rasmt",
+        description="Set robot name in gazebo env"
+    ))
+
+    # Launch Gazebo
+    gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([
+                FindPackageShare("gazebo_ros"), 
+                "launch", 
+                "gazebo.launch.py"
+            ])
+        )
+    )
+    
+    """xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro")
+    # get error if xacro file if missing
+    assert os.path.exists(xacro_file), "The xacro file of rasmt.xacro doesnt exist"+str(xacro_file)"""
+
+    #sdf_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","cube5x.sdf")
+
+
+    spawn_entity = Node(
+        package="gazebo_ros",
+        executable="spawn_entity.py",
+        arguments=[
+            "-topic", "/robot_description",
+            "-entity", LaunchConfiguration("robot_name")
+        ],
+        output="screen"
+    )
+    """cube_spawn = Node(
+        package="gazebo_ros",
+        executable="spawn_entity.py",
+        arguments=[
+            "-file", sdf_file,
+            "-entity", "cube_station"
+        ]
+    )"""
+
+    launch_nodes = []
+    launch_nodes.append(gazebo)
+    launch_nodes.append(spawn_entity)
+    #launch_nodes.append(cube_spawn)
+
+    return LaunchDescription(launch_args + launch_nodes)