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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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15
rbs_skill_servers/launch/skills.launch.py
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@ -4,27 +4,26 @@ from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer, Node
from launch_ros.actions.composable_node_container import ComposableNode
from rbs_launch_utils.launch_common import load_yaml
from rbs_launch_utils.launch_common import load_yaml, load_yaml_abs
def launch_setup(context, *args, **kwargs):
robot_description_decl = LaunchConfiguration("robot_description")
robot_description_semantic_decl = LaunchConfiguration("robot_description_semantic")
robot_description_kinematics = LaunchConfiguration("robot_description_kinematics")
robot_description_content = LaunchConfiguration("robot_description")
robot_description_semantic_content = LaunchConfiguration("robot_description_semantic")
robot_description_kinematics_filepath = LaunchConfiguration("robot_description_kinematics")
use_sim_time = LaunchConfiguration("use_sim_time")
use_moveit = LaunchConfiguration("use_moveit")
ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
base_link_name = LaunchConfiguration("base_link_name").perform(context)
# with_gripper_condition = LaunchConfiguration("with_gripper_condition")
robot_description = {"robot_description": robot_description_decl}
robot_description = {"robot_description": robot_description_content}
robot_description_semantic = {
"robot_description_semantic": robot_description_semantic_decl
"robot_description_semantic": robot_description_semantic_content
}
namespace = LaunchConfiguration("namespace")
kinematics_yaml = load_yaml("rbs_arm", "config/kinematics.yaml")
kinematics_yaml = load_yaml_abs(robot_description_kinematics_filepath.perform(context))
robot_description_kinematics = {"robot_description_kinematics": kinematics_yaml}
skills_container = ComposableNodeContainer(