Multi-Robot Setup

2024-04-18 13:29:36 +00:00 · 2024-04-18 13:29:36 +00:00 · d5e7768d90
commit d5e7768d90
parent bc48e0c35a
45 changed files with 4519 additions and 861 deletions
--- a/rbs_simulation/launch/simulation_spawn.launch.py
+++ b/rbs_simulation/launch/simulation_spawn.launch.py
@ -0,0 +1,76 @@
+from launch_ros.actions import Node
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition
+
+def launch_setup(context, *args, **kwargs):
+    sim_gazebo = LaunchConfiguration("sim_gazebo")
+    rbs_robot_name= LaunchConfiguration("rbs_robot_name")
+    namespace = LaunchConfiguration("namespace")
+    x_pos = LaunchConfiguration("x_pos")
+    y_pos = LaunchConfiguration("y_pos")
+    z_pos = LaunchConfiguration("z_pos")
+    # Convert LaunchConfiguration to string values
+    namespace = namespace.perform(context)
+    # Spawn robot
+    # TODO: add full pose support include rotation
+    gazebo_spawn_robot = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=[
+            '-name', rbs_robot_name,
+            '-x', x_pos.perform(context),
+            '-y', y_pos.perform(context),
+            '-z', z_pos.perform(context),
+            '-topic', namespace + '/robot_description'],
+        output='screen',
+        condition=IfCondition(sim_gazebo))
+
+    nodes_to_start = [
+        gazebo_spawn_robot,
+    ]
+
+    return nodes_to_start
+
+
+def generate_launch_description():
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument("sim_gazebo",
+                              default_value="false",
+                              description="Gazebo Simulation")
+    )
+    declared_arguments.append(
+         DeclareLaunchArgument("rbs_robot_type",
+                              description="Type of robot by name",
+                              choices=["rbs_arm" ,"ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
+                              default_value="rbs_arm",)
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument("gazebo_gui",
+                              default_value="true",
+                              description="Launch env_manager?")
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument("namespace",
+                              default_value="",
+                              description="namespace for spawn a robot")
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument("x_pos",
+                              default_value="0.0",
+                              description="robot's position along X")
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument("y_pos",
+                              default_value="0.0",
+                              description="robot's position along Y")
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument("z_pos",
+                              default_value="0.0",
+                              description="robot's position along Z")
+    )
+
+    return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])