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refactor launch configuration for robot and environment setup

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- Simplified and consolidated launch arguments by removing unused configurations.
- Enhanced `test_env.launch.py` to support dynamic loading of xacro and SRDF arguments via YAML files.
- Added new launch parameters for control space, strategy, and interactive mode to improve flexibility.
- Updated robot description and MoveIt integration to use dynamic configurations.
- Improved clarity and modularity in scene and robot setup processes.
This commit is contained in:
Ilya Uraev 2024-11-30 19:30:13 +03:00
parent 48e8668136
commit de0d5d4440
6 changed files with 313 additions and 244 deletions
Download patch file Download diff file Expand all files Collapse all files

254
env_manager/rbs_gym/launch/test_env.launch.py
View file

@ -15,6 +15,7 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
import yaml
def launch_setup(context, *args, **kwargs):
@ -22,25 +23,21 @@ def launch_setup(context, *args, **kwargs):
robot_type = LaunchConfiguration("robot_type")
# General arguments
with_gripper_condition = LaunchConfiguration("with_gripper")
controllers_file = LaunchConfiguration("controllers_file")
cartesian_controllers = LaunchConfiguration("cartesian_controllers")
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
robot_name = LaunchConfiguration("robot_name")
start_joint_controller = LaunchConfiguration("start_joint_controller")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
launch_simulation = LaunchConfiguration("launch_sim")
launch_moveit = LaunchConfiguration("launch_moveit")
launch_task_planner = LaunchConfiguration("launch_task_planner")
launch_perception = LaunchConfiguration("launch_perception")
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")
sim_gazebo = LaunchConfiguration("sim_gazebo")
hardware = LaunchConfiguration("hardware")
env_manager = LaunchConfiguration("env_manager")
launch_controllers = LaunchConfiguration("launch_controllers")
gripper_name = LaunchConfiguration("gripper_name")
scene_config_file = LaunchConfiguration("scene_config_file").perform(context)
ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
base_link_name = LaunchConfiguration("base_link_name").perform(context)
control_space = LaunchConfiguration("control_space").perform(context)
control_strategy = LaunchConfiguration("control_strategy").perform(context)
interactive = LaunchConfiguration("interactive").perform(context)
# training arguments
env = LaunchConfiguration("env")
@ -48,28 +45,72 @@ def launch_setup(context, *args, **kwargs):
log_level = LaunchConfiguration("log_level")
env_kwargs = LaunchConfiguration("env_kwargs")
sim_gazebo = LaunchConfiguration("sim_gazebo")
launch_simulation = LaunchConfiguration("launch_sim")
initial_joint_controllers_file_path = os.path.join(
get_package_share_directory("rbs_arm"), "config", "controllers.yaml"
description_package_abs_path = get_package_share_directory(
description_package.perform(context)
)
simulation_controllers = os.path.join(
description_package_abs_path, "config", "controllers.yaml"
)
xacro_file = os.path.join(
get_package_share_directory(description_package.perform(context)),
description_package_abs_path,
"urdf",
description_file.perform(context),
)
robot_description_doc = xacro.process_file(
xacro_file,
mappings={
"gripper_name": gripper_name.perform(context),
"hardware": hardware.perform(context),
"simulation_controllers": initial_joint_controllers_file_path,
"namespace": "",
},
)
xacro_config_file = f"{description_package_abs_path}/config/xacro_args.yaml"
# TODO: hide this to another place
# Load xacro_args
def param_constructor(loader, node, local_vars):
value = loader.construct_scalar(node)
return LaunchConfiguration(value).perform(
local_vars.get("context", "Launch context if not defined")
)
def variable_constructor(loader, node, local_vars):
value = loader.construct_scalar(node)
return local_vars.get(value, f"Variable '{value}' not found")
def load_xacro_args(yaml_file, local_vars):
# Get valut from ros2 argument
yaml.add_constructor(
"!param", lambda loader, node: param_constructor(loader, node, local_vars)
)
# Get value from local variable in this code
# The local variable should be initialized before the loader was called
yaml.add_constructor(
"!variable",
lambda loader, node: variable_constructor(loader, node, local_vars),
)
with open(yaml_file, "r") as file:
return yaml.load(file, Loader=yaml.FullLoader)
mappings_data = load_xacro_args(xacro_config_file, locals())
robot_description_doc = xacro.process_file(xacro_file, mappings=mappings_data)
robot_description_semantic_content = ""
if use_moveit.perform(context) == "true":
srdf_config_file = f"{description_package_abs_path}/config/srdf_xacro_args.yaml"
srdf_file = os.path.join(
get_package_share_directory(moveit_config_package.perform(context)),
"srdf",
moveit_config_file.perform(context),
)
srdf_mappings = load_xacro_args(srdf_config_file, locals())
robot_description_semantic_content = xacro.process_file(srdf_file, mappings=srdf_mappings)
robot_description_semantic_content = robot_description_semantic_content.toprettyxml(indent=" ")
control_space = "joint"
control_strategy = "position"
interactive = "false"
robot_description_content = robot_description_doc.toprettyxml(indent=" ")
robot_description = {"robot_description": robot_description_content}
@ -83,28 +124,25 @@ def launch_setup(context, *args, **kwargs):
]
),
launch_arguments={
"env_manager": env_manager,
"with_gripper": with_gripper_condition,
"gripper_name": gripper_name,
"controllers_file": initial_joint_controllers_file_path,
"controllers_file": simulation_controllers,
"robot_type": robot_type,
"cartesian_controllers": cartesian_controllers,
"description_package": description_package,
"description_file": description_file,
"robot_name": robot_type,
"start_joint_controller": start_joint_controller,
"initial_joint_controller": initial_joint_controller,
"launch_simulation": launch_simulation,
"launch_moveit": launch_moveit,
"launch_task_planner": launch_task_planner,
"launch_perception": launch_perception,
"use_moveit": "false",
"moveit_config_package": moveit_config_package,
"moveit_config_file": moveit_config_file,
"use_sim_time": use_sim_time,
"sim_gazebo": sim_gazebo,
"hardware": hardware,
"launch_controllers": "true",
"use_sim_time": "true",
"use_skills": "false",
"use_controllers": "true",
"robot_description": robot_description_content,
"robot_description_semantic": robot_description_semantic_content,
"base_link_name": base_link_name,
"ee_link_name": ee_link_name,
"control_space": control_space,
"control_strategy": "effort",
"interactive_control": "false",
}.items(),
)
@ -137,7 +175,7 @@ def launch_setup(context, *args, **kwargs):
nodes_to_start = [
# env,
rl_task,
# rl_task,
clock_bridge,
delay_robot_control_stack,
]
@ -150,18 +188,20 @@ def generate_launch_description():
DeclareLaunchArgument(
"robot_type",
description="Type of robot by name",
choices=["rbs_arm", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
choices=[
"rbs_arm",
"ar4",
"ur3",
"ur3e",
"ur5",
"ur5e",
"ur10",
"ur10e",
"ur16e",
],
default_value="rbs_arm",
)
)
# General arguments
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="controllers_gazebosim.yaml",
description="YAML file with the controllers configuration.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_package",
@ -184,20 +224,6 @@ def generate_launch_description():
description="Name for robot, used to apply namespace for specific robot in multirobot setup",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"start_joint_controller",
default_value="false",
description="Enable headless mode for robot control",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
default_value="joint_trajectory_controller",
description="Robot controller to start.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_package",
@ -221,14 +247,6 @@ def generate_launch_description():
This is needed for the trajectory planing in simulation.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"gripper_name",
default_value="rbs_gripper",
choices=["rbs_gripper", ""],
description="choose gripper by name (leave empty if hasn't)",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"with_gripper", default_value="true", description="With gripper or not?"
@ -236,25 +254,7 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"sim_gazebo", default_value="true", description="Gazebo Simulation"
)
)
declared_arguments.append(
DeclareLaunchArgument(
"env_manager", default_value="false", description="Launch env_manager?"
)
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_sim",
default_value="true",
description="Launch simulator (Gazebo)?\
Most general arg",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_moveit", default_value="false", description="Launch moveit?"
"use_moveit", default_value="false", description="Launch moveit?"
)
)
declared_arguments.append(
@ -264,39 +264,55 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_task_planner",
default_value="false",
description="Launch task_planner?",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"cartesian_controllers",
default_value="true",
description="Load cartesian\
controllers?",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"hardware",
choices=["gazebo", "mock"],
default_value="gazebo",
description="Choose your harware_interface",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"launch_controllers",
"use_controllers",
default_value="true",
description="Launch controllers?",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"gazebo_gui", default_value="true", description="Launch gazebo with gui?"
"scene_config_file",
default_value="",
description="Path to a scene configuration file",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"ee_link_name",
default_value="",
description="End effector name of robot arm",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"base_link_name",
default_value="",
description="Base link name if robot arm",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"control_space",
default_value="task",
choices=["task", "joint"],
description="Specify the control space for the robot (e.g., task space).",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"control_strategy",
default_value="position",
choices=["position", "velocity", "effort"],
description="Specify the control strategy (e.g., position control).",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"interactive",
default_value="true",
description="Wheter to run the motion_control_handle controller",
),
)
# training arguments
declared_arguments.append(
DeclareLaunchArgument(

268
env_manager/rbs_gym/launch/train.launch.py
View file

@ -13,31 +13,29 @@ from launch_ros.actions import Node
import os
from os import cpu_count
from ament_index_python.packages import get_package_share_directory
import yaml
import xacro
def launch_setup(context, *args, **kwargs):
# Initialize Arguments
robot_type = LaunchConfiguration("robot_type")
# General arguments
with_gripper_condition = LaunchConfiguration("with_gripper")
controllers_file = LaunchConfiguration("controllers_file")
cartesian_controllers = LaunchConfiguration("cartesian_controllers")
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
robot_name = LaunchConfiguration("robot_name")
start_joint_controller = LaunchConfiguration("start_joint_controller")
initial_joint_controller = LaunchConfiguration("initial_joint_controller")
launch_simulation = LaunchConfiguration("launch_sim")
launch_moveit = LaunchConfiguration("launch_moveit")
launch_task_planner = LaunchConfiguration("launch_task_planner")
launch_perception = LaunchConfiguration("launch_perception")
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")
sim_gazebo = LaunchConfiguration("sim_gazebo")
hardware = LaunchConfiguration("hardware")
env_manager = LaunchConfiguration("env_manager")
launch_controllers = LaunchConfiguration("launch_controllers")
gripper_name = LaunchConfiguration("gripper_name")
scene_config_file = LaunchConfiguration("scene_config_file").perform(context)
ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
base_link_name = LaunchConfiguration("base_link_name").perform(context)
control_space = LaunchConfiguration("control_space").perform(context)
control_strategy = LaunchConfiguration("control_strategy").perform(context)
interactive = LaunchConfiguration("interactive").perform(context)
# training arguments
env = LaunchConfiguration("env")
@ -64,47 +62,104 @@ def launch_setup(context, *args, **kwargs):
track = LaunchConfiguration("track")
sim_gazebo = LaunchConfiguration("sim_gazebo")
launch_simulation = LaunchConfiguration("launch_sim")
initial_joint_controllers_file_path = os.path.join(
get_package_share_directory('rbs_arm'), 'config', 'controllers.yaml'
description_package_abs_path = get_package_share_directory(
description_package.perform(context)
)
simulation_controllers = os.path.join(
description_package_abs_path, "config", "controllers.yaml"
)
xacro_file = os.path.join(
description_package_abs_path,
"urdf",
description_file.perform(context),
)
xacro_config_file = f"{description_package_abs_path}/config/xacro_args.yaml"
# TODO: hide this to another place
# Load xacro_args
def param_constructor(loader, node, local_vars):
value = loader.construct_scalar(node)
return LaunchConfiguration(value).perform(
local_vars.get("context", "Launch context if not defined")
)
def variable_constructor(loader, node, local_vars):
value = loader.construct_scalar(node)
return local_vars.get(value, f"Variable '{value}' not found")
def load_xacro_args(yaml_file, local_vars):
# Get valut from ros2 argument
yaml.add_constructor(
"!param", lambda loader, node: param_constructor(loader, node, local_vars)
)
# Get value from local variable in this code
# The local variable should be initialized before the loader was called
yaml.add_constructor(
"!variable",
lambda loader, node: variable_constructor(loader, node, local_vars),
)
with open(yaml_file, "r") as file:
return yaml.load(file, Loader=yaml.FullLoader)
mappings_data = load_xacro_args(xacro_config_file, locals())
robot_description_doc = xacro.process_file(xacro_file, mappings=mappings_data)
robot_description_semantic_content = ""
if use_moveit.perform(context) == "true":
srdf_config_file = f"{description_package_abs_path}/config/srdf_xacro_args.yaml"
srdf_file = os.path.join(
get_package_share_directory(moveit_config_package.perform(context)),
"srdf",
moveit_config_file.perform(context),
)
srdf_mappings = load_xacro_args(srdf_config_file, locals())
robot_description_semantic_content = xacro.process_file(srdf_file, mappings=srdf_mappings)
robot_description_semantic_content = robot_description_semantic_content.toprettyxml(indent=" ")
control_space = "joint"
control_strategy = "position"
interactive = "false"
robot_description_content = robot_description_doc.toprettyxml(indent=" ")
robot_description = {"robot_description": robot_description_content}
single_robot_setup = IncludeLaunchDescription(
PythonLaunchDescriptionSource([
PathJoinSubstitution([
FindPackageShare('rbs_bringup'),
"launch",
"rbs_robot.launch.py"
])
]),
PythonLaunchDescriptionSource(
[
PathJoinSubstitution(
[FindPackageShare("rbs_bringup"), "launch", "rbs_robot.launch.py"]
)
]
),
launch_arguments={
"env_manager": env_manager,
"with_gripper": with_gripper_condition,
"gripper_name": gripper_name,
"controllers_file": controllers_file,
"controllers_file": simulation_controllers,
"robot_type": robot_type,
"controllers_file": initial_joint_controllers_file_path,
"cartesian_controllers": cartesian_controllers,
"description_package": description_package,
"description_file": description_file,
"robot_name": robot_name,
"start_joint_controller": start_joint_controller,
"initial_joint_controller": initial_joint_controller,
"launch_simulation": launch_simulation,
"launch_moveit": launch_moveit,
"launch_task_planner": launch_task_planner,
"launch_perception": launch_perception,
"robot_name": robot_type,
"use_moveit": use_moveit,
"moveit_config_package": moveit_config_package,
"moveit_config_file": moveit_config_file,
"use_sim_time": use_sim_time,
"sim_gazebo": sim_gazebo,
"hardware": hardware,
"launch_controllers": launch_controllers,
# "gazebo_gui": gazebo_gui
}.items()
"use_controllers": "true",
"robot_description": robot_description_content,
"robot_description_semantic": robot_description_semantic_content,
"base_link_name": base_link_name,
"ee_link_name": ee_link_name,
"control_space": control_space,
"control_strategy": control_strategy,
"interactive_control": interactive,
}.items(),
)
args = [
@ -188,18 +243,20 @@ def generate_launch_description():
DeclareLaunchArgument(
"robot_type",
description="Type of robot by name",
choices=["rbs_arm","ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
choices=[
"rbs_arm",
"ar4",
"ur3",
"ur3e",
"ur5",
"ur5e",
"ur10",
"ur10e",
"ur16e",
],
default_value="rbs_arm",
)
)
# General arguments
declared_arguments.append(
DeclareLaunchArgument(
"controllers_file",
default_value="controllers_gazebosim.yaml",
description="YAML file with the controllers configuration.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"description_package",
@ -222,20 +279,6 @@ def generate_launch_description():
description="Name for robot, used to apply namespace for specific robot in multirobot setup",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"start_joint_controller",
default_value="false",
description="Enable headless mode for robot control",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"initial_joint_controller",
default_value="joint_trajectory_controller",
description="Robot controller to start.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_package",
@ -261,69 +304,69 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"gripper_name",
default_value="rbs_gripper",
choices=["rbs_gripper", ""],
description="choose gripper by name (leave empty if hasn't)",
"with_gripper", default_value="true", description="With gripper or not?"
)
)
declared_arguments.append(
DeclareLaunchArgument("with_gripper",
default_value="true",
description="With gripper or not?")
DeclareLaunchArgument(
"use_moveit", default_value="false", description="Launch moveit?"
)
)
declared_arguments.append(
DeclareLaunchArgument("sim_gazebo",
default_value="true",
description="Gazebo Simulation")
DeclareLaunchArgument(
"launch_perception", default_value="false", description="Launch perception?"
)
)
declared_arguments.append(
DeclareLaunchArgument("env_manager",
default_value="false",
description="Launch env_manager?")
DeclareLaunchArgument(
"use_controllers",
default_value="true",
description="Launch controllers?",
)
)
declared_arguments.append(
DeclareLaunchArgument("launch_sim",
default_value="true",
description="Launch simulator (Gazebo)?\
Most general arg")
DeclareLaunchArgument(
"scene_config_file",
default_value="",
description="Path to a scene configuration file",
)
)
declared_arguments.append(
DeclareLaunchArgument("launch_moveit",
default_value="false",
description="Launch moveit?")
DeclareLaunchArgument(
"ee_link_name",
default_value="",
description="End effector name of robot arm",
)
)
declared_arguments.append(
DeclareLaunchArgument("launch_perception",
default_value="false",
description="Launch perception?")
DeclareLaunchArgument(
"base_link_name",
default_value="",
description="Base link name if robot arm",
)
)
declared_arguments.append(
DeclareLaunchArgument("launch_task_planner",
default_value="false",
description="Launch task_planner?")
DeclareLaunchArgument(
"control_space",
default_value="task",
choices=["task", "joint"],
description="Specify the control space for the robot (e.g., task space).",
)
)
declared_arguments.append(
DeclareLaunchArgument("cartesian_controllers",
default_value="true",
description="Load cartesian\
controllers?")
DeclareLaunchArgument(
"control_strategy",
default_value="position",
choices=["position", "velocity", "effort"],
description="Specify the control strategy (e.g., position control).",
)
)
declared_arguments.append(
DeclareLaunchArgument("hardware",
choices=["gazebo", "mock"],
default_value="gazebo",
description="Choose your harware_interface")
)
declared_arguments.append(
DeclareLaunchArgument("launch_controllers",
default_value="true",
description="Launch controllers?")
)
declared_arguments.append(
DeclareLaunchArgument("gazebo_gui",
default_value="true",
description="Launch gazebo with gui?")
DeclareLaunchArgument(
"interactive",
default_value="true",
description="Wheter to run the motion_control_handle controller",
),
)
# training arguments
declared_arguments.append(
@ -448,13 +491,12 @@ def generate_launch_description():
default_value="1",
description="Verbose mode (0: no output, 1: INFO).",
))
# HER specifics
declared_arguments.append(
DeclareLaunchArgument(
"truncate_last_trajectory",
default_value="True",
description="When using HER with online sampling the last trajectory in the replay buffer will be truncated after) reloading the replay buffer."
)),
))
declared_arguments.append(
DeclareLaunchArgument(
"log_level",

4
env_manager/rbs_gym/rbs_gym/envs/__init__.py
View file

@ -105,14 +105,14 @@ SCENE_CONFIGURATION: SceneData = SceneData(
name="rbs_arm",
joint_positions=[0.0, 0.5, 3.14159, 1.5, 0.0, 1.4, 0.0],
with_gripper=True,
gripper_joint_positions=0.064,
gripper_joint_positions=0.00,
randomizer=RobotRandomizerData(joint_positions=True),
),
objects=[
SphereObjectData(
name="sphere",
relative_to="base_link",
position=(0.0, 0.4, 1.0),
position=(0.0, 0.3, 0.5),
static=True,
collision=False,
color=(0.0, 1.0, 0.0, 0.8),

17
env_manager/rbs_runtime/rbs_runtime/__init__.py
View file

@ -6,22 +6,25 @@ from env_manager.models.configs import SceneData
from typing import Dict, Any
from env_manager.models.configs import (
BoxObjectData, CylinderObjectData, MeshData, ModelData, ObjectData
BoxObjectData, CylinderObjectData, MeshData, ModelData, ObjectData, ObjectRandomizerData
)
def object_factory(obj_data: Dict[str, Any]) -> ObjectData:
obj_type = obj_data.get('type', '')
if "randomize" in obj_data and isinstance(obj_data["randomize"], dict):
obj_data["randomize"] = from_dict(data_class=ObjectRandomizerData, data=obj_data["randomize"])
if obj_type == 'box':
return BoxObjectData(**obj_data)
return from_dict(data_class=BoxObjectData, data=obj_data)
elif obj_type == 'cylinder':
return CylinderObjectData(**obj_data)
return from_dict(data_class=CylinderObjectData, data=obj_data)
elif obj_type == 'mesh':
return MeshData(**obj_data)
return from_dict(data_class=MeshData, data=obj_data)
elif obj_type == 'model':
return ModelData(**obj_data)
return from_dict(data_class=ModelData, data=obj_data)
else:
return ObjectData(**obj_data)
return from_dict(data_class=ObjectData, data=obj_data)
def scene_config_loader(file: str | Path) -> SceneData:
def tuple_constructor(loader, node):
@ -35,6 +38,4 @@ def scene_config_loader(file: str | Path) -> SceneData:
scene_data.objects = [object_factory(obj) for obj in scene_cfg.get('objects', [])]
print(scene_data)
return scene_data

2
rbs_bringup/launch/rbs_bringup.launch.py
View file

@ -25,7 +25,7 @@ def launch_setup(context, *args, **kwargs):
"description_package": "rbs_arm",
"description_file": "rbs_arm_modular.xacro",
"robot_name": "rbs_arm",
"use_moveit": "true",
"use_moveit": "false",
"moveit_config_package": "rbs_arm",
"moveit_config_file": "rbs_arm.srdf.xacro",
"use_sim_time": "true",

12
rbs_bringup/launch/rbs_robot.launch.py
View file

@ -2,7 +2,7 @@ import os
import xacro
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch import LaunchDescription, condition
from launch.actions import (
DeclareLaunchArgument,
IncludeLaunchDescription,
@ -30,6 +30,7 @@ def launch_setup(context, *args, **kwargs):
moveit_config_package = LaunchConfiguration("moveit_config_package")
use_sim_time = LaunchConfiguration("use_sim_time")
use_controllers = LaunchConfiguration("use_controllers")
use_skills = LaunchConfiguration("use_skills")
namespace = LaunchConfiguration("namespace")
multi_robot = LaunchConfiguration("multi_robot")
robot_name = robot_name.perform(context)
@ -144,6 +145,7 @@ def launch_setup(context, *args, **kwargs):
"ee_link_name": ee_link_name,
"base_link_name": base_link_name,
}.items(),
condition=IfCondition(use_skills),
)
nodes_to_start = [
@ -247,6 +249,14 @@ def generate_launch_description():
description="Specify if MoveIt should be launched.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"use_skills",
default_value="true",
description="Specify if skills should be launched.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"use_controllers",