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.

rbs_bringup/launch/rbs_bringup.launch.py

@@ -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",

rbs_bringup/launch/rbs_robot.launch.py

@@ -23,23 +23,13 @@ from launch_ros.substitutions import FindPackageShare
 def launch_setup(context, *args, **kwargs):
     robot_type = LaunchConfiguration("robot_type")
     with_gripper_condition = LaunchConfiguration("with_gripper")
-    controllers_file = LaunchConfiguration("controllers_file")
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
     robot_name = LaunchConfiguration("robot_name")
     use_moveit = LaunchConfiguration("use_moveit")
     moveit_config_package = LaunchConfiguration("moveit_config_package")
-    moveit_config_file = LaunchConfiguration("moveit_config_file")
     use_sim_time = LaunchConfiguration("use_sim_time")
-    hardware = LaunchConfiguration("hardware")
     use_controllers = LaunchConfiguration("use_controllers")
-    gripper_name = LaunchConfiguration("gripper_name")
-    x_pos = LaunchConfiguration("x")
-    y_pos = LaunchConfiguration("y")
-    z_pos = LaunchConfiguration("z")
-    roll = LaunchConfiguration("roll")
-    pitch = LaunchConfiguration("pitch")
-    yaw = LaunchConfiguration("yaw")
     namespace = LaunchConfiguration("namespace")
     multi_robot = LaunchConfiguration("multi_robot")
     robot_name = robot_name.perform(context)
@@ -47,10 +37,11 @@ def launch_setup(context, *args, **kwargs):
     robot_type = robot_type.perform(context)
     description_package = description_package.perform(context)
     description_file = description_file.perform(context)
-    controllers_file = controllers_file.perform(context)
     multi_robot = multi_robot.perform(context)
-    robot_description = LaunchConfiguration("robot_description")
+    robot_description_content = LaunchConfiguration("robot_description")
-    robot_description_semantic = LaunchConfiguration("robot_description_semantic")
+    robot_description_semantic_content = LaunchConfiguration(
+        "robot_description_semantic"
+    )
     control_space = LaunchConfiguration("control_space")
     control_strategy = LaunchConfiguration("control_strategy")
     ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
@@ -60,74 +51,19 @@ def launch_setup(context, *args, **kwargs):
     if multi_robot == "true":
         remappings.append([("/tf", "tf"), ("/tf_static", "tf_static")])
 
-    controllers_file = os.path.join(
+    robot_description = {
-        get_package_share_directory(description_package), "config", controllers_file
+        "robot_description": robot_description_content.perform(context)
-    )
-
-    if not robot_description.perform(context):
-        xacro_file = os.path.join(
-            get_package_share_directory(description_package), "urdf", description_file
-        )
-        robot_description_doc = xacro.process_file(
-            xacro_file,
-            mappings={
-                "gripper_name": gripper_name.perform(context),
-                "hardware": hardware.perform(context),
-                "simulation_controllers": controllers_file,
-                "namespace": namespace,
-                "x": x_pos.perform(context),
-                "y": y_pos.perform(context),
-                "z": z_pos.perform(context),
-                "roll": roll.perform(context),
-                "pitch": pitch.perform(context),
-                "yaw": yaw.perform(context),
-            },
-        )
-
-        robot_description_content = robot_description_doc.toprettyxml(indent="  ")
-    else:
-        robot_description_content = robot_description.perform(context)
-
-    robot_description = {"robot_description": robot_description_content}
-
-    if not robot_description_semantic.perform(context):
-        robot_description_semantic_content = Command(
-            [
-                PathJoinSubstitution([FindExecutable(name="xacro")]),
-                " ",
-                PathJoinSubstitution(
-                    [
-                        FindPackageShare(moveit_config_package),
-                        "config/moveit",
-                        "rbs_arm.srdf.xacro",
-                    ]
-                ),
-                " ",
-                "name:=",
-                robot_type,
-                " ",
-                "with_gripper:=",
-                with_gripper_condition,
-                " ",
-                "gripper_name:=",
-                gripper_name,
-                " ",
-            ]
-        )
-    else:
-        robot_description_semantic_content = robot_description_semantic
-
-    robot_description_semantic = {
-        "robot_description_semantic": robot_description_semantic_content
     }
 
-    robot_description_kinematics = PathJoinSubstitution(
+    robot_description_kinematics_filepath = os.path.join(
-        [FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
+        get_package_share_directory(moveit_config_package.perform(context)),
+        "config",
+        "kinematics.yaml",
     )
 
-    robot_description_kinematics = {
+    # robot_description_kinematics = {
-        "robot_description_kinematics": robot_description_kinematics
+    #     "robot_description_kinematics": robot_description_kinematics
-    }
+    # }
 
     robot_state_publisher = Node(
         package="robot_state_publisher",
@@ -172,13 +108,14 @@ def launch_setup(context, *args, **kwargs):
             ]
         ),
         launch_arguments={
-            "robot_description": robot_description_content,
             "moveit_config_package": moveit_config_package,
-            "moveit_config_file": moveit_config_file,
+            # "moveit_config_file": moveit_config_file,
             "use_sim_time": use_sim_time,
             "tf_prefix": robot_name,
             "with_gripper": with_gripper_condition,
+            "robot_description": robot_description_content,
             "robot_description_semantic": robot_description_semantic_content,
+            "robot_description_kinematics": robot_description_kinematics_filepath,
             "namespace": namespace,
         }.items(),
         condition=IfCondition(use_moveit),
@@ -199,7 +136,7 @@ def launch_setup(context, *args, **kwargs):
         launch_arguments={
             "robot_description": robot_description_content,
             "robot_description_semantic": robot_description_semantic_content,
-            "robot_description_kinematics": robot_description_kinematics,
+            "robot_description_kinematics": robot_description_kinematics_filepath,
             "use_sim_time": use_sim_time,
             "with_gripper_condition": with_gripper_condition,
             "namespace": namespace,
@@ -288,14 +225,14 @@ def generate_launch_description():
             description="Enables simulation time in MoveIt, needed for trajectory planning in simulation.",
         )
     )
-    declared_arguments.append(
+    # declared_arguments.append(
-        DeclareLaunchArgument(
+    #     DeclareLaunchArgument(
-            "gripper_name",
+    #         "gripper_name",
-            default_value="",
+    #         default_value="",
-            choices=["rbs_gripper", ""],
+    #         choices=["rbs_gripper", ""],
-            description="Specify gripper name (leave empty if none).",
+    #         description="Specify gripper name (leave empty if none).",
-        )
+    #     )
-    )
+    # )
     declared_arguments.append(
         DeclareLaunchArgument(
             "with_gripper",
@@ -310,14 +247,6 @@ def generate_launch_description():
             description="Specify if MoveIt should be launched.",
         )
     )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "hardware",
-            choices=["gazebo", "mock"],
-            default_value="gazebo",
-            description="Specify the hardware interface to use (e.g., Gazebo or mock).",
-        )
-    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "use_controllers",

rbs_skill_servers/launch/skills.launch.py

@@ -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_content = LaunchConfiguration("robot_description")
-    robot_description_semantic_decl = LaunchConfiguration("robot_description_semantic")
+    robot_description_semantic_content = LaunchConfiguration("robot_description_semantic")
-    robot_description_kinematics = LaunchConfiguration("robot_description_kinematics")
+    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(