refactor launch files for enhanced MoveIt integration and cleanup
- **RBS Bringup Launch File:** - Enabled MoveIt by default (`use_moveit: true`). - Removed unused arguments (`gripper_name`, `hardware`) for cleaner configuration. - Updated `robot_description_kinematics` to use the new kinematics file path handling. - **RBS Robot Launch File:** - Streamlined robot description setup, removing unnecessary parameters like `gripper_name`, `hardware`, and pose arguments (`x`, `y`, `z`, `roll`, etc.). - Updated robot description and semantic description to use launch configurations. - Refactored kinematics file handling for clarity. - **Skills Launch File:** - Updated kinematics YAML loading to use `load_yaml_abs` for absolute path resolution. - Standardized `robot_description`, `robot_description_semantic`, and `kinematics` parameters. - **General Improvements:** - Consolidated redundant logic across launch files. - Improved maintainability by removing hardcoded and unused configurations.
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fbddca1b8b
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3 changed files with 33 additions and 107 deletions
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@ -21,16 +21,14 @@ def launch_setup(context, *args, **kwargs):
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),
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launch_arguments={
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"with_gripper": "true",
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"gripper_name": "rbs_gripper",
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"robot_type": "rbs_arm",
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"description_package": "rbs_arm",
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"description_file": "rbs_arm_modular.xacro",
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"robot_name": "rbs_arm",
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"use_moveit": "false",
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"use_moveit": "true",
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"moveit_config_package": "rbs_arm",
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"moveit_config_file": "rbs_arm.srdf.xacro",
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"use_sim_time": "true",
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"hardware": "gazebo",
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"use_controllers": "true",
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"scene_config_file": "",
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"base_link_name": "base_link",
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@ -23,23 +23,13 @@ from launch_ros.substitutions import FindPackageShare
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def launch_setup(context, *args, **kwargs):
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robot_type = LaunchConfiguration("robot_type")
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with_gripper_condition = LaunchConfiguration("with_gripper")
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controllers_file = LaunchConfiguration("controllers_file")
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description_package = LaunchConfiguration("description_package")
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description_file = LaunchConfiguration("description_file")
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robot_name = LaunchConfiguration("robot_name")
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use_moveit = LaunchConfiguration("use_moveit")
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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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hardware = LaunchConfiguration("hardware")
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use_controllers = LaunchConfiguration("use_controllers")
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gripper_name = LaunchConfiguration("gripper_name")
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x_pos = LaunchConfiguration("x")
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y_pos = LaunchConfiguration("y")
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z_pos = LaunchConfiguration("z")
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roll = LaunchConfiguration("roll")
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pitch = LaunchConfiguration("pitch")
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yaw = LaunchConfiguration("yaw")
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namespace = LaunchConfiguration("namespace")
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multi_robot = LaunchConfiguration("multi_robot")
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robot_name = robot_name.perform(context)
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@ -47,10 +37,11 @@ def launch_setup(context, *args, **kwargs):
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robot_type = robot_type.perform(context)
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description_package = description_package.perform(context)
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description_file = description_file.perform(context)
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controllers_file = controllers_file.perform(context)
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multi_robot = multi_robot.perform(context)
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robot_description = LaunchConfiguration("robot_description")
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robot_description_semantic = LaunchConfiguration("robot_description_semantic")
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robot_description_content = LaunchConfiguration("robot_description")
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robot_description_semantic_content = LaunchConfiguration(
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"robot_description_semantic"
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)
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control_space = LaunchConfiguration("control_space")
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control_strategy = LaunchConfiguration("control_strategy")
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ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
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@ -60,74 +51,19 @@ def launch_setup(context, *args, **kwargs):
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if multi_robot == "true":
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remappings.append([("/tf", "tf"), ("/tf_static", "tf_static")])
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controllers_file = os.path.join(
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get_package_share_directory(description_package), "config", controllers_file
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)
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if not robot_description.perform(context):
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xacro_file = os.path.join(
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get_package_share_directory(description_package), "urdf", description_file
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)
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robot_description_doc = xacro.process_file(
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xacro_file,
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mappings={
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"gripper_name": gripper_name.perform(context),
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"hardware": hardware.perform(context),
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"simulation_controllers": controllers_file,
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"namespace": namespace,
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"x": x_pos.perform(context),
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"y": y_pos.perform(context),
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"z": z_pos.perform(context),
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"roll": roll.perform(context),
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"pitch": pitch.perform(context),
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"yaw": yaw.perform(context),
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},
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)
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robot_description_content = robot_description_doc.toprettyxml(indent=" ")
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else:
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robot_description_content = robot_description.perform(context)
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robot_description = {"robot_description": robot_description_content}
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if not robot_description_semantic.perform(context):
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robot_description_semantic_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[
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FindPackageShare(moveit_config_package),
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"config/moveit",
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"rbs_arm.srdf.xacro",
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]
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),
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" ",
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"name:=",
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robot_type,
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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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"gripper_name:=",
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gripper_name,
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" ",
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]
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)
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else:
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robot_description_semantic_content = robot_description_semantic
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robot_description_semantic = {
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"robot_description_semantic": robot_description_semantic_content
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robot_description = {
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"robot_description": robot_description_content.perform(context)
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}
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robot_description_kinematics = PathJoinSubstitution(
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[FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
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robot_description_kinematics_filepath = os.path.join(
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get_package_share_directory(moveit_config_package.perform(context)),
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"config",
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"kinematics.yaml",
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)
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robot_description_kinematics = {
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"robot_description_kinematics": robot_description_kinematics
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}
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# robot_description_kinematics = {
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# "robot_description_kinematics": robot_description_kinematics
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# }
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robot_state_publisher = Node(
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package="robot_state_publisher",
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@ -172,13 +108,14 @@ def launch_setup(context, *args, **kwargs):
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]
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),
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launch_arguments={
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"robot_description": robot_description_content,
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"moveit_config_package": moveit_config_package,
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"moveit_config_file": moveit_config_file,
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# "moveit_config_file": moveit_config_file,
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"use_sim_time": use_sim_time,
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"tf_prefix": robot_name,
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"with_gripper": with_gripper_condition,
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"robot_description": robot_description_content,
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"robot_description_semantic": robot_description_semantic_content,
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"robot_description_kinematics": robot_description_kinematics_filepath,
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"namespace": namespace,
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}.items(),
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condition=IfCondition(use_moveit),
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@ -199,7 +136,7 @@ def launch_setup(context, *args, **kwargs):
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launch_arguments={
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"robot_description": robot_description_content,
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"robot_description_semantic": robot_description_semantic_content,
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"robot_description_kinematics": robot_description_kinematics,
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"robot_description_kinematics": robot_description_kinematics_filepath,
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"use_sim_time": use_sim_time,
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"with_gripper_condition": with_gripper_condition,
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"namespace": namespace,
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@ -288,14 +225,14 @@ def generate_launch_description():
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description="Enables simulation time in MoveIt, needed for trajectory planning in simulation.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"gripper_name",
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default_value="",
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choices=["rbs_gripper", ""],
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description="Specify gripper name (leave empty if none).",
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)
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)
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# declared_arguments.append(
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# DeclareLaunchArgument(
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# "gripper_name",
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# default_value="",
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# choices=["rbs_gripper", ""],
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# description="Specify gripper name (leave empty if none).",
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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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@ -310,14 +247,6 @@ def generate_launch_description():
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description="Specify if MoveIt should be launched.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"hardware",
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choices=["gazebo", "mock"],
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default_value="gazebo",
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description="Specify the hardware interface to use (e.g., Gazebo or mock).",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"use_controllers",
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@ -4,27 +4,26 @@ from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import ComposableNodeContainer, Node
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from launch_ros.actions.composable_node_container import ComposableNode
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from rbs_launch_utils.launch_common import load_yaml
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from rbs_launch_utils.launch_common import load_yaml, load_yaml_abs
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def launch_setup(context, *args, **kwargs):
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robot_description_decl = LaunchConfiguration("robot_description")
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robot_description_semantic_decl = LaunchConfiguration("robot_description_semantic")
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robot_description_kinematics = LaunchConfiguration("robot_description_kinematics")
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robot_description_content = LaunchConfiguration("robot_description")
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robot_description_semantic_content = LaunchConfiguration("robot_description_semantic")
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robot_description_kinematics_filepath = LaunchConfiguration("robot_description_kinematics")
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use_sim_time = LaunchConfiguration("use_sim_time")
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use_moveit = LaunchConfiguration("use_moveit")
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ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
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base_link_name = LaunchConfiguration("base_link_name").perform(context)
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# with_gripper_condition = LaunchConfiguration("with_gripper_condition")
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robot_description = {"robot_description": robot_description_decl}
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robot_description = {"robot_description": robot_description_content}
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robot_description_semantic = {
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"robot_description_semantic": robot_description_semantic_decl
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"robot_description_semantic": robot_description_semantic_content
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}
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namespace = LaunchConfiguration("namespace")
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kinematics_yaml = load_yaml("rbs_arm", "config/kinematics.yaml")
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kinematics_yaml = load_yaml_abs(robot_description_kinematics_filepath.perform(context))
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robot_description_kinematics = {"robot_description_kinematics": kinematics_yaml}
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skills_container = ComposableNodeContainer(
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