Multi-Robot Setup
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45 changed files with 4519 additions and 861 deletions
357
rbs_bringup/launch/rbs_robot.launch.py
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357
rbs_bringup/launch/rbs_robot.launch.py
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from launch import LaunchContext, LaunchDescription
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from launch.actions import (
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DeclareLaunchArgument,
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IncludeLaunchDescription,
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RegisterEventHandler,
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OpaqueFunction
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)
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from launch.event_handlers import OnProcessExit
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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import xacro
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import os
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from ament_index_python.packages import get_package_share_directory
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def launch_setup(context, *args, **kwargs):
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# Initialize Arguments
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robot_type = LaunchConfiguration("robot_type")
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# General arguments
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with_gripper_condition = LaunchConfiguration("with_gripper")
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controllers_file = LaunchConfiguration("controllers_file")
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cartesian_controllers = LaunchConfiguration("cartesian_controllers")
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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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start_joint_controller = LaunchConfiguration("start_joint_controller")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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launch_moveit = LaunchConfiguration("launch_moveit")
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launch_task_planner = LaunchConfiguration("launch_task_planner")
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launch_perception = LaunchConfiguration("launch_perception")
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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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launch_controllers = LaunchConfiguration("launch_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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robot_name = robot_name.perform(context)
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namespace = "/" + robot_name
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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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remappings = [("/tf", "tf"), ("/tf_static", "tf_static")]
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xacro_file = os.path.join(get_package_share_directory(description_package), "urdf", description_file)
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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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#TODO: add rotation and add probably via dict
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}
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)
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robot_description_content = robot_description_doc.toprettyxml(indent=" ")
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robot_description = {"robot_description": robot_description_content}
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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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[FindPackageShare(moveit_config_package), "config/moveit", "rbs_arm.srdf.xacro"]
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),
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" ",
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"name:=",robot_name," ",
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"with_gripper:=",with_gripper_condition, " ",
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"gripper_name:=", gripper_name, " ",
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]
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)
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robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
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robot_description_kinematics = PathJoinSubstitution(
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[FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
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)
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robot_state_publisher = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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namespace=namespace,
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output="both",
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remappings=remappings,
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parameters=[{"use_sim_time": True}, robot_description],
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)
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control = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare(description_package),
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'launch',
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'control.launch.py'
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])
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]),
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launch_arguments={
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'with_gripper': with_gripper_condition,
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'robot_description': robot_description_content,
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'start_joint_controller': start_joint_controller,
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'initial_joint_controller': initial_joint_controller,
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'controllers_file': controllers_file,
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'cartesian_controllers': cartesian_controllers,
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'namespace': namespace,
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}.items(),
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condition=IfCondition(launch_controllers))
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moveit = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare(moveit_config_package),
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'launch',
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'moveit.launch.py'
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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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'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_semantic': robot_description_semantic_content,
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'namespace': namespace,
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}.items(),
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condition=IfCondition(launch_moveit))
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skills = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('rbs_skill_servers'),
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'launch',
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'skills.launch.py'
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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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'robot_description_semantic': robot_description_semantic_content,
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'robot_description_kinematics': robot_description_kinematics,
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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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}.items()
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)
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task_planner = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('rbs_task_planner'),
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'launch',
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'task_planner.launch.py'
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])
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]),
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launch_arguments={
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# TBD
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}.items(),
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condition=IfCondition(launch_task_planner))
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perception = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('rbs_perception'),
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'launch',
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'perception.launch.py'
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])
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]),
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launch_arguments={
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# TBD
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}.items(),
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condition=IfCondition(launch_perception))
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nodes_to_start = [
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robot_state_publisher,
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control,
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moveit,
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skills,
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task_planner,
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perception
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]
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return nodes_to_start
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def generate_launch_description():
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"robot_type",
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description="Type of robot by name",
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choices=["rbs_arm","ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
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default_value="rbs_arm",
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)
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)
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# General arguments
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_file",
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default_value="rbs_arm_controllers_gazebosim.yaml",
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description="YAML file with the controllers configuration.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_package",
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default_value="rbs_arm",
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description="Description package with robot URDF/XACRO files. Usually the argument \
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is not set, it enables use of a custom description.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"description_file",
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default_value="rbs_arm_modular.xacro",
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description="URDF/XACRO description file with the robot.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"robot_name",
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default_value="arm0",
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description="tf_prefix of the joint names, useful for \
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multi-robot setup. If changed than also joint names in the controllers' configuration \
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have to be updated.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"start_joint_controller",
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default_value="true",
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description="Enable headless mode for robot control",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"initial_joint_controller",
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default_value="joint_trajectory_controller",
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description="Robot controller to start.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"moveit_config_package",
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default_value="rbs_arm",
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description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
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is not set, it enables use of a custom moveit config.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"moveit_config_file",
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default_value="rbs_arm.srdf.xacro",
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description="MoveIt SRDF/XACRO description file with the robot.",
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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_sim_time",
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default_value="true",
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description="Make MoveIt to use simulation time.\
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This is needed for the trajectory planing 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="choose gripper by name (leave empty if hasn't)",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument("with_gripper",
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default_value="true",
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description="With gripper or not?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_rviz",
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default_value="true",
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description="Launch RViz?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("sim_gazebo",
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default_value="true",
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description="Gazebo Simulation")
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)
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declared_arguments.append(
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DeclareLaunchArgument("env_manager",
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default_value="true",
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description="Launch env_manager?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_sim",
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default_value="true",
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description="Launch simulator (Gazebo)?\
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Most general arg")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_moveit",
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default_value="true",
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description="Launch moveit?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_perception",
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default_value="false",
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description="Launch perception?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_task_planner",
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default_value="false",
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description="Launch task_planner?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("cartesian_controllers",
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default_value="false",
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description="Load cartesian\
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controllers?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("hardware",
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choices=["gazebo", "mock"],
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default_value="gazebo",
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description="Choose your harware_interface")
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)
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declared_arguments.append(
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DeclareLaunchArgument("launch_controllers",
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default_value="true",
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description="Launch controllers?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("gazebo_gui",
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default_value="false",
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description="Launch gazebo with gui?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("x",
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default_value="0.0",
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description="Position of robot in world by X")
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)
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declared_arguments.append(
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DeclareLaunchArgument("y",
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default_value="0.0",
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description="Position of robot in world by Y")
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)
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declared_arguments.append(
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DeclareLaunchArgument("z",
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default_value="0.0",
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description="Position of robot in world by Z")
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)
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return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
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