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refactor launch files for enhanced MoveIt integration and cleanup

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- **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.
This commit is contained in:
Ilya Uraev 2024-11-22 02:16:20 +03:00
parent fbddca1b8b
commit d0788041e9
3 changed files with 33 additions and 107 deletions
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rbs_bringup/launch/rbs_bringup.launch.py
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@ -21,16 +21,14 @@ def launch_setup(context, *args, **kwargs):
),
launch_arguments={
"with_gripper": "true",
"gripper_name": "rbs_gripper",
"robot_type": "rbs_arm",
"description_package": "rbs_arm",
"description_file": "rbs_arm_modular.xacro",
"robot_name": "rbs_arm",
"use_moveit": "false",
"use_moveit": "true",
"moveit_config_package": "rbs_arm",
"moveit_config_file": "rbs_arm.srdf.xacro",
"use_sim_time": "true",
"hardware": "gazebo",
"use_controllers": "true",
"scene_config_file": "",
"base_link_name": "base_link",