Multi-Robot Setup
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276
rbs_bringup/launch/single_robot.launch.py
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276
rbs_bringup/launch/single_robot.launch.py
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from launch import LaunchDescription
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from launch.actions import (
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DeclareLaunchArgument,
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IncludeLaunchDescription,
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OpaqueFunction
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)
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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 LaunchConfiguration, PathJoinSubstitution
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from launch_ros.substitutions import FindPackageShare
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from launch_ros.actions import Node
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import os
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from ament_index_python.packages import get_package_share_directory
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from nav2_common.launch import RewrittenYaml
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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_simulation = LaunchConfiguration("launch_sim")
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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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sim_gazebo = LaunchConfiguration("sim_gazebo")
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hardware = LaunchConfiguration("hardware")
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env_manager = LaunchConfiguration("env_manager")
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launch_controllers = LaunchConfiguration("launch_controllers")
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gazebo_gui = LaunchConfiguration("gazebo_gui")
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gripper_name = LaunchConfiguration("gripper_name")
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sim_gazebo = LaunchConfiguration("sim_gazebo")
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launch_simulation = LaunchConfiguration("launch_sim")
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simulation = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('rbs_simulation'),
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'launch',
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'simulation_gazebo.launch.py'
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])
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]),
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launch_arguments={
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'sim_gazebo': sim_gazebo,
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'debugger': "false",
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'launch_env_manager': "false"
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}.items(),
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condition=IfCondition(launch_simulation)
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)
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configured_params = RewrittenYaml(
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source_file=os.path.join(
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get_package_share_directory(
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description_package.perform(context)),
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"config",
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controllers_file.perform(context)),
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root_key=robot_name.perform(context),
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param_rewrites={},
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convert_types=True,
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)
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controller_paramfile = configured_params.perform(context)
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namespace = "/" + robot_name.perform(context)
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gz_spawner = Node(
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package='ros_gz_sim',
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executable='create',
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arguments=[
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'-name', robot_name.perform(context),
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'-x', "0.5",
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'-y', "0.5",
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'-z', "0.0",
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'-topic', namespace + '/robot_description'],
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output='screen',
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condition=IfCondition(sim_gazebo))
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single_robot_setup = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('rbs_bringup'),
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"launch",
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"rbs_robot.launch.py"
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])
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]),
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launch_arguments={
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"env_manager": env_manager,
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"with_gripper": with_gripper_condition,
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"gripper_name": gripper_name,
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"controllers_file": controllers_file,
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"robot_type": robot_type,
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"controllers_file": controller_paramfile,
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"cartesian_controllers": cartesian_controllers,
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"description_package": description_package,
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"description_file": description_file,
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"robot_name": robot_name,
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"start_joint_controller": start_joint_controller,
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"initial_joint_controller": initial_joint_controller,
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"launch_simulation": launch_simulation,
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"launch_moveit": launch_moveit,
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"launch_task_planner": launch_task_planner,
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"launch_perception": launch_perception,
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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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"sim_gazebo": sim_gazebo,
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"hardware": hardware,
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"launch_controllers": "true",
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"gazebo_gui": gazebo_gui,
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"x": "0.5",
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"y": "0.5",
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"z": "0.5"
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}.items()
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)
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nodes_to_start = [
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simulation,
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gz_spawner,
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single_robot_setup
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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="Name for robot, used to apply namespace for specific robot in multirobot setup",
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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="false",
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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="rbs_gripper",
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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("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="false",
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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="false",
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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="true",
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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="true",
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description="Launch gazebo with gui?")
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)
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return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
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